Decentralized Coordination of Multi-Agent Systems Based on POMDPs and Consensus for Active Perception
This work presents the method based on the Partially Observable Markov Decision Processes (POMDP) and consensus protocol. The main idea is to share the belief and reach the consensus on the belief state in order to improve local decision making. To show that the belief update is important after reac...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10136644/ |
| _version_ | 1827932559326052352 |
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| author | Marijana Peti Frano Petric Stjepan Bogdan |
| author_facet | Marijana Peti Frano Petric Stjepan Bogdan |
| author_sort | Marijana Peti |
| collection | DOAJ |
| description | This work presents the method based on the Partially Observable Markov Decision Processes (POMDP) and consensus protocol. The main idea is to share the belief and reach the consensus on the belief state in order to improve local decision making. To show that the belief update is important after reaching the observation, alongside the average consensus, we also examine novelty-biased consensus. The proposed method is applied on several benchmark problems and compared to an established method called Decentralized POMDP. Additionally, it is thoroughly examined in the simulation scenario. The results obtained in this work show that our method is efficient on the scenarios where agents explore the environment and it manages to execute mission in the scenarios where agents need to coordinate. |
| first_indexed | 2024-03-13T07:11:34Z |
| format | Article |
| id | doaj.art-2794780cd25140b58cf75c95b22e8abf |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-13T07:11:34Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-2794780cd25140b58cf75c95b22e8abf2023-06-05T23:00:28ZengIEEEIEEE Access2169-35362023-01-0111524805249110.1109/ACCESS.2023.328041310136644Decentralized Coordination of Multi-Agent Systems Based on POMDPs and Consensus for Active PerceptionMarijana Peti0https://orcid.org/0009-0005-6214-520XFrano Petric1https://orcid.org/0000-0002-9806-8569Stjepan Bogdan2https://orcid.org/0000-0003-2636-3216Laboratory for Robotics and Intelligent Control Systems (LARICS), Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, CroatiaLaboratory for Robotics and Intelligent Control Systems (LARICS), Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, CroatiaLaboratory for Robotics and Intelligent Control Systems (LARICS), Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, CroatiaThis work presents the method based on the Partially Observable Markov Decision Processes (POMDP) and consensus protocol. The main idea is to share the belief and reach the consensus on the belief state in order to improve local decision making. To show that the belief update is important after reaching the observation, alongside the average consensus, we also examine novelty-biased consensus. The proposed method is applied on several benchmark problems and compared to an established method called Decentralized POMDP. Additionally, it is thoroughly examined in the simulation scenario. The results obtained in this work show that our method is efficient on the scenarios where agents explore the environment and it manages to execute mission in the scenarios where agents need to coordinate.https://ieeexplore.ieee.org/document/10136644/POMDPconsensusmulti-agent systemsdecentralized-POMDPmixed-observability-POMDPdecision-making |
| spellingShingle | Marijana Peti Frano Petric Stjepan Bogdan Decentralized Coordination of Multi-Agent Systems Based on POMDPs and Consensus for Active Perception IEEE Access POMDP consensus multi-agent systems decentralized-POMDP mixed-observability-POMDP decision-making |
| title | Decentralized Coordination of Multi-Agent Systems Based on POMDPs and Consensus for Active Perception |
| title_full | Decentralized Coordination of Multi-Agent Systems Based on POMDPs and Consensus for Active Perception |
| title_fullStr | Decentralized Coordination of Multi-Agent Systems Based on POMDPs and Consensus for Active Perception |
| title_full_unstemmed | Decentralized Coordination of Multi-Agent Systems Based on POMDPs and Consensus for Active Perception |
| title_short | Decentralized Coordination of Multi-Agent Systems Based on POMDPs and Consensus for Active Perception |
| title_sort | decentralized coordination of multi agent systems based on pomdps and consensus for active perception |
| topic | POMDP consensus multi-agent systems decentralized-POMDP mixed-observability-POMDP decision-making |
| url | https://ieeexplore.ieee.org/document/10136644/ |
| work_keys_str_mv | AT marijanapeti decentralizedcoordinationofmultiagentsystemsbasedonpomdpsandconsensusforactiveperception AT franopetric decentralizedcoordinationofmultiagentsystemsbasedonpomdpsandconsensusforactiveperception AT stjepanbogdan decentralizedcoordinationofmultiagentsystemsbasedonpomdpsandconsensusforactiveperception |