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Challenge Problems for Multiagent Planning (Competition?)

Challenge Problems for Multiagent Planning (Competition?). Robert P. Goldman. Desirable Features. Opportunity to do projection --- purely reactive approaches not suitable Dead-ends to avoid Prepositioning (umbrella) Optimization of cost and/or time Test robustness under some circumstances

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Challenge Problems for Multiagent Planning (Competition?)

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  1. Challenge Problems for Multiagent Planning (Competition?) Robert P. Goldman

  2. Desirable Features • Opportunity to do projection --- purely reactive approaches not suitable • Dead-ends to avoid • Prepositioning (umbrella) • Optimization of cost and/or time • Test robustness under some circumstances • Non-free communications • Tunable dynamism (allows us to determine when projection is and is not appropriate) • Heterogeneous agent capabilities

  3. Requirements • Analogy to PDDL: features of domain • Static vs. dynamic environment • Communications through simulator vs. anything goes • Communications that can fail • Agent failure/death • Fully observable state vs. partial observability • Actions • Deterministic • Non-deterministic • Probabilistic • Action durations • Instantaneous • Deterministic • Uncertain

  4. Possible Candidate Problem Family • [Inspired by Coordinators field test] • Map with multiple sites of interest that have • Multiple operations that must be performed at the sites • Operations are linked through preconditions and postconditions • Different agents are needed to perform different operations • Some form of deadline (need not necessarily be metric time) • Enhancements • Partial observability --- need to do a survey before you know what is to be done at a site • (Somewhat) unpredictably get new sites added to the problem • Communications concerns • Push communications through the simulator, instead of making them go direct • Random message loss • Actions that can fail • Agents can get damaged or destroyed (randomly, or in particular situations)

  5. What We Need in a Description • Domain – class of problems • Entity types • State description components • Slots? • Predicates? • Map (if shared) • Action models • Possibly including sensing actions • Method of invoking actions • Requirements list • Objective model • Note: We do not need a plan language • Possibly: common problem components • Specific Problem • Map (if unshared) • Specific objectives (?)

  6. THE END

  7. Title • Bullets • Deeper • And more

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