2246359
Simultaneous Team Assignment and Behavior Recognition from Spatio-Temporal Agent Traces
This paper addresses the problem of activity recognition for physically-embodied agent teams. We define team activity recognition as the process of identifying team behaviors from traces of agent positions over time; for many physical domains, military or athletic, coordinated team behaviors create distinctive spatio-temporal patterns that can be used to identify low-level action sequences. This paper focuses on the novel problem of recovering agent-to-team assignments for complex team tasks where team composition, the mapping of agents into teams, changes over time. Without a priori knowledge of current team assignments, the behavior recognition problem is challenging since behaviors are characterized by the aggregate motion of the entire team and cannot generally be determined by observing the movements of a single agent in isolation. To handle this problem, we introduce a new algorithm, Simultaneous Team Assignment and Behavior Recognition (STABR), that generates behavior annotations from spatio-temporal agent traces. The proposed approach is able to perform accurate team behavior recognition without an exhaustive search over the combinatorial space of potential team assignments, as demonstrated on several scenarios of simulated military maneuvers.
11307805
A constraint optimization framework for fractured robot teams
In dangerous and uncertain environments initial plans must be revised. Communication failures hamper this replanning. We introduce fractured subteams as a novel formalism for modeling breakdowns in communication. We present a hybrid approach that employs distributed coordination mechanisms to provide robustness to these communication breakdowns and exploits opportunistic centralization. By modeling the problem as a mixed integer linear programming problem, we are able to apply constraint optimization techniques to efficiently find optimal or near optimal solutions to the difficult class of time critical tight coordination team planning problems. We then demonstrate that explicitly reasoning about communication failures through the incorporation of selective disruption minimization can improve team performance.
2970088
Heterogeneous Multirobot Coordination with Spatial and Temporal Constraints
Existing approaches to multirobot coordination separate scheduling and task allocation, but finding the optimal schedule with joint tasks and spatial constraints requires robots to simultaneously solve the scheduling, task allocation, and path planning problems. We present a formal description of the multirobot joint task allocation problem with heterogeneous capabilities and spatial constraints and an instantiation of the problem for the search and rescue domain. We introduce a novel declarative framework for modeling the problem as a mixed integer linear programming (MILP) problem and present a centralized anytime algorithm with error bounds. We demonstrate that our algorithm can outperform standard MILP solving techniques, greedy heuristics, and a market based approach which separates scheduling and task allocation.
18336540
Multi-agent reinforcement learning for planning and scheduling multiple goals
Recently, reinforcement learning has been proposed as an effective method for knowledge acquisition of multiagent systems. However, most research on multiagent systems applying a reinforcement learning algorithm, focus on a method to reduce complexity due to the existence of multiple agents and goals. Although these pre-defined structures succeeded in lessening the undesirable effect due to the existence of multiple agents, they would also suppress the desirable emergence of cooperative behaviors in the multiagent domain. We show that the potential cooperative properties among the agent are emerged by means of profit-sharing (J. Grefenstette, 1988; K. Miyazaki et al., 1994) which is robust in the non-MDPs.
53957
Exploiting Problem Structure for Distributed Constraint Optimization
Distributed constraint optimization imposes considerable complexity in agents’ coordinated search for an optimal solution. However, in many application domains, problems often exhibit special structures that can be exploited to facilitate more efficient problem solving. One of the most recurrent structures involves disparity among subpmblems. We present a coordination mechanism, Anchor&Ascend, for distributed constraint optimization that takes advantage of disparity among subpmblems to efficiently guide distributed local search for global optimality. The coordination mechanism assigns different overlapping subpmblems to agents who must interact and iteratively converge on a solution. In particular, an anchor agent who conducts local best first search to optimize its subsolution interacts with the rest of the agents who perform distributed constraint satisfaction to enforce problem constraints and constraints imposed by the anchor agent. We focus our study on the well-known NP-complete job shop scheduling problem. We define and study two problem structure measures, disparity ratio and disparity composition ratio. We experimentally evaluated the effectiveness of the Anchor&Ascend mechanism on a suite of job shop scheduling problems over a wide range of values of disparity composition. Our experimental results show that (1) considerable advantage can be obtained by explicitly exploiting disparity (2) disparity composition ratio plays a more important role than disparity ratio in finding high quality solution with little computational cost.