Planning under Uncertainty: Difference between revisions

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== Introduction ==
In the Intelligent Systems Lab, one of the research foci is planning under uncertainty. That is, we compute plans for single agents as well
In the Intelligent Systems Lab, one of the research foci is planning under uncertainty. That is, we compute plans for single agents as well
as cooperative multiagent systems, in domains in which an agent is uncertain
as cooperative multiagent systems, in domains in which an agent is uncertain about the exact consequences of its actions. Furthermore,
about the exact consequences of its actions. Furthermore, it is equipped with
it is equipped with imperfect sensors, resulting in noisy sensor readings which provide only limited
imperfect sensors, resulting in noisy sensor readings which provide only limited
information.  
information. For single agents, such planning problems are naturally framed in
 
For single agents, such planning problems are naturally framed in
the partially observable Markov decision process (POMDP) paradigm. In a POMDP, uncertainty in acting
the partially observable Markov decision process (POMDP) paradigm. In a POMDP, uncertainty in acting
and sensing is captured in probabilistic models, and allows an agent to plan
and sensing is captured in probabilistic models, and allows an agent to plan
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the decentralized POMDP (Dec-POMDP) framework.
the decentralized POMDP (Dec-POMDP) framework.


Some of our results in this research area can be found at the [http://mediawiki.isr.ist.utl.pt/wiki/From_Bio-Inspired_to_Institutional-Inspired_Collective_Robotics MAIS+S] and  [http://decpucs.isr.ist.utl.pt DecPUCS] project pages, as well as Matthijs Spaan's [http://users.isr.ist.utl.pt/~mtjspaan/publications/ publications].
== Projects ==
 
* [http://mediawiki.isr.ist.utl.pt/wiki/From_Bio-Inspired_to_Institutional-Inspired_Collective_Robotics MAIS+S]
* [http://decpucs.isr.ist.utl.pt DecPUCS] project pages.
 
== Software ==
* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS], by João Messias
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox], by Matthijs Spaan and Frans Oliehoek
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains], by Matthijs Spaan
* [http://dante.isr.tecnico.ulisboa.pt/tsveiga/POMDPSolvers POMDP Solvers], repository created by Tiago Veiga - check the folder
'SymbolicPerseusIR' for Tiago's POMDP-IR code, that endows POMDPs with special actions which enable rewarding beliefs instead
of states, without modifying the traditional solution of PODMPs (value function remains PWLC).
 
Check also
* [http://www.openmarkov.org/ OpenMarkov] - output .pgmx files are recognized by Tiago's POMDP-IR code above
* [http://www.fransoliehoek.net/index.php?fuseaction=software.madp MADP] MADP (also recognises .pgmx files)

Revision as of 16:19, 19 November 2016

Introduction

In the Intelligent Systems Lab, one of the research foci is planning under uncertainty. That is, we compute plans for single agents as well as cooperative multiagent systems, in domains in which an agent is uncertain about the exact consequences of its actions. Furthermore, it is equipped with imperfect sensors, resulting in noisy sensor readings which provide only limited information.

For single agents, such planning problems are naturally framed in the partially observable Markov decision process (POMDP) paradigm. In a POMDP, uncertainty in acting and sensing is captured in probabilistic models, and allows an agent to plan on its belief state, which summarizes all the information the agent has received regarding its environment. For the multiagent case, we frame our planning problem in the decentralized POMDP (Dec-POMDP) framework.

Projects

Software

'SymbolicPerseusIR' for Tiago's POMDP-IR code, that endows POMDPs with special actions which enable rewarding beliefs instead of states, without modifying the traditional solution of PODMPs (value function remains PWLC).

Check also

  • OpenMarkov - output .pgmx files are recognized by Tiago's POMDP-IR code above
  • MADP MADP (also recognises .pgmx files)