Distributed learning for planning under uncertainty problems with heterogeneous teams: Scaling up the multiagent planning with distributed learning and approximate representations

N. Kemal Ure, Girish Chowdhary, Yu Fan Chen, Jonathan P. How, John Vian

Research output: Contribution to journalArticle

Abstract

This paper considers the problem of multiagent sequential decision making under uncertainty and incomplete knowledge of the state transition model. A distributed learning framework, where each agent learns an individual model and shares the results with the team, is proposed. The challenges associated with this approach include choosing the model representation for each agent and how to effectively share these representations under limited communication. A decentralized extension of the model learning scheme based on the Incremental Feature Dependency Discovery (Dec-iFDD) is presented to address the distributed learning problem. The representation selection problem is solved by leveraging iFDD's property of adjusting the model complexity based on the observed data. The model sharing problem is addressed by having each agent rank the features of their representation based on the model reduction error and broadcast the most relevant features to their teammates. The algorithm is tested on the multi-agent block building and the persistent search and track missions. The results show that the proposed distributed learning scheme is particularly useful in heterogeneous learning setting, where each agent learns significantly different models. We show through large-scale planning under uncertainty simulations and flight experiments with state-dependent actuator and fuel-burn- rate uncertainty that our planning approach can outperform planners that do not account for heterogeneity between agents.

Original languageEnglish (US)
Pages (from-to)529-544
Number of pages16
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Volume74
Issue number1-2
DOIs
StatePublished - Apr 2014
Externally publishedYes

Keywords

  • Distributed learning
  • Planning under uncertainty
  • Unmanned aerial systems

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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