Decentralized multi-robot cooperation with auctioned POMDPs

摘要

Planning under uncertainty faces a scalability problem when considering multi-robot teams, as the information space scales exponentially with the number of robots. To address this issue, this paper proposes to decentralize multiagent Partially Observable Markov Decision Process (POMDPs) while maintaining cooperation between robots by using POMDP policy auctions. Furthermore, communication models in the multiagent POMDP literature severely mismatch with real inter-robot communication. We address this issue by applying a decentralized data fusion method in order to efficiently maintain a joint belief state among the robots. The paper focuses on a cooperative tracking application, in which several robots have to jointly track a moving target of interest. The proposed ideas are illustrated in real multi-robot experiments, showcasing the flexible and robust cooperation that our techniques can provide.