Multi-Agent Planning in Complex Uncertain Environments
Many tasks require a team of agents to act together in a coordinated way in a complex, uncertain environment. Examples include search and rescue, control of a complex system such as a factory, or robot soccer. Such tasks involve many agents, and huge numbers of states and possible actions. Factored Markov decision processes (MDPs) provide a formal foundation for modeling such complex systems naturally and compactly. We propose a framework for multi-agent coordination and planning in factored MDPs based on the use of a factored value function — an approximate decomposition of the team value function as a sum of value functions of small subteams of agents. We show that factored value functions naturally give rise to an optimal distributed algorithm for joint action selection, whose communication structure naturally mirrors the interactions between the subteams. We present an efficient linear-programming-based algorithm for computing a factored value function for a factored MDP. We show how the use of factored value functions can form the basis for interdomain plan generalization, where we “learn” from plans constructed for some set of problems, and can provide good solutions to other unseen problems of the same type without any need for planning. We describe the application of this approach to the task of multi-agent planning in a strategic computer war game, and the application by Kok et al. for multi-agent coordination in their world-champion RoboSoccer team. Acknowledgements. Joint work with Carlos Guestrin, Ronald Parr, Chris Gearhart, Neal Kanodia, and Shobha Venkataraman.