Incremental  Clustering and Expansion for Faster Optimal Planning in Decentralized POMDPs

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Incremental Clustering and Expansion for Faster Optimal Planning in Decentralized POMDPs (2013)

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by Frans A. Oliehoek , Matthijs T. J. Spaan , Christopher Amato , Shimon Whiteson

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18 - 12 self

BibTeX

@MISC{Oliehoek13incrementalclustering,
    author = {Frans A. Oliehoek and Matthijs T. J. Spaan and Christopher Amato and Shimon Whiteson},
    title = { Incremental Clustering and Expansion for Faster Optimal Planning in Decentralized POMDPs},
    year = {2013}
}

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Abstract

This article presents the state-of-the-art in optimal solution methods for decentralized partially observable Markov decision processes (Dec-POMDPs), which are general models for collaborative multiagent planning under uncertainty. Building off the generalized multiagent A * (GMAA*) algorithm, which reduces the problem to a tree of one-shot collaborative Bayesian games (CBGs), we describe several advances that greatly expand the range of Dec-POMDPs that can be solved optimally. First, we introduce lossless incremental clustering of the CBGs solved by GMAA*, which achieves exponential speedups without sacrificing optimality. Second, we introduce incremental expansion of nodes in the GMAA * search tree, which avoids the need to expand all children, the number of which is in the worst case doubly exponential in the node’s depth. This is particularly beneficial when little clustering is possible. In addition, we introduce new hybrid heuristic representations that are more compact and thereby enable the solution of larger Dec-POMDPs. We provide theoretical guarantees that, when a suitable heuristic is used, both incremental clustering and incremental expansion yield algorithms that are both complete and search equivalent. Finally, we present extensive empirical results demonstrating that GMAA*-ICE, an algorithm that synthesizes these advances, can optimally solve Dec-POMDPs of unprecedented size.

Keyphrases

incremental clustering decentralized pomdps faster optimal planning unprecedented size incremental expansion gmaa search tree suitable heuristic lossless incremental clustering search equivalent node depth several advance observable markov decision process optimal solution method collaborative multiagent general model exponential speedup theoretical guarantee one-shot collaborative bayesian game incremental expansion yield algorithm extensive empirical result generalized multiagent gmaa ice new hybrid heuristic representation little clustering

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