2015
Planning for decentralized control of multiple robots under uncertainty
Christopher Amato, George Konidaris, Gabriel Cruz, Christopher A. Maynor, Jonathan P. How, Leslie P. Kaelbling
ICRA 2015poster
This paper presents a probabilistic framework for synthesizing control policies for general multi-robot systems that is based on decentralized partially observable Markov decision processes (Dec-POMDPs). Dec-POMDPs are a general model of decision-making where a team of agents must cooperate to optim…