Decision-theoretic planning with communication in open multiagent systems
Decision-theoretic planning with communication in open multiagent systems
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发表时间：
2022
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通讯作者：
Anirudh Kakarlapudi;Gayathri Anil;A. Eck;Prashant Doshi;Leen-Kiat Soh
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作者：
Anirudh Kakarlapudi;Gayathri Anil;A. Eck;Prashant Doshi;Leen-Kiat Soh
在开放的多智能体系统中，在环境中运行的智能体的集合随着时间的推移而变化，并且以不可预测的方式变化。例如，如果协作机器人的任务是扑灭野火，它们可能会耗尽抑制剂，暂时无法帮助它们的同伴。因为一个代理的最佳行动取决于其他代理的行动，每个代理不仅要预测其对等体的行动，而且在此之前，还要推理它们是否存在以执行某个行动。因此，解决开放性问题需要代理人对彼此的存在进行建模，这可以通过代理人在环境中交流他们的存在来增强。同时，沟通行为也会产生成本（例如，消耗有限的带宽），因此代理必须权衡增强协调的贝内与通信成本。我们提出了一个新的principled，决策理论方法的背景下提供的最近的沟通互动POMDP框架规划在开放的代理设置，平衡这种权衡。多智能体野火抑制问题的模拟演示了通信如何改善开放智能体环境中的规划，以及智能体如何在不同场景下权衡通信的贝内和成本。
In open multiagent systems, the set of agents operating in the environment changes over time and in ways that are nontrivial to predict. For example, if collaborative robots were tasked with fighting wildfires, they may run out of suppressants and be temporarily unavailable to assist their peers. Because an agent’s optimal action depends on the actions of others, each agent must not only predict the actions of its peers, but, before that, reason whether they are even present to perform an action. Addressing openness thus requires agents to model each other’s presence, which can be enhanced through agents communicating about their presence in the environment. At the same time, communicative acts can also incur costs (e.g., con-suming limited bandwidth), and thus an agent must tradeoff the benefits of enhanced coordination with the costs of communication. We present a new prin-cipled, decision-theoretic method in the context provided by the recent communicative interactive POMDP framework for planning in open agent settings that balances this tradeoff. Simulations of multiagent wildfire suppression problems demon-strate how communication can improve planning in open agent environments, as well as how agents tradeoff the benefits and costs of communication under different scenarios.