多智能体机器人系统分散式通信决策研究  

Research on Decentralized Communication Decision in the Multi-Agent Robotic System

作　　者：刘海涛[1] 洪炳镕[1] 乔立民[1] 朴松昊[1] 

机构地区：[1]哈尔滨工业大学计算机科学与技术学院,黑龙江哈尔滨150001

出　　处：《机器人》2007年第6期540-545,共6页Robot

基　　金：国家863计划资助项目(2006AA04Z259)

摘　　要：为了减少多智能体机器人系统协调所需通信的数量,提出了一种新的方法.利用有向无环图表示团队的可能联合信度,并基于此以分散式的方式制定通信决策,仅当智能体自身的观察信息显示共享信息将导致期望回报升高时才选择通信.通过维持以及推理团队的可能联合信度将集中式单智能体策略应用于分散式多智能体POM-DP问题.通过实验以及一个详细的实例表明,本文方法能够有效地减少通信资源的使用,同时提高分散执行的性能.In order to reduce communication amount in the coordination of multi-agent robotic system, this paper presents a novel approach to make communication decisions in a decentralized fashion. The possible joint beliefs of the team are represented based on a directed acyclic graph and communication is chosen only when an agent＇s local observations indicate that the shared ＇information will lead to an increase in expected reward. The centralized single-agent policies are applied to decentralized multi-agent POMDPs by maintaining and reasoning over the possible joint beliefs of the team. Experiment and a detailed example show that the presented approach can reduce communication amount and improve the distributed execution performance.

关 键 词：通信 多智能体系统 分散式控制 分散式POMDP 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]