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Quiz. The desJardins, Durfee, Ortiz and Wolverton paper organizes distributed planning research into two basic categories. Summarize the difference between these categories.

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Quiz

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  1. Quiz • The desJardins, Durfee, Ortiz and Wolverton paper organizes distributed planning research into two basic categories. Summarize the difference between these categories. • The desJardins and Wolverton paper is based around a technical definition of the term “irrelevance.” Why do they care about “irrelevance”?

  2. Issues • How distributed? • How much information shared • Who benefits? The collective? The individual? • Who’s in charge? • How do agents communicate, coordinate, negotiate?

  3. Issues • How distributive • One planner, multiple bodies? • Multiple mars rover problem 3 “dumb” rovers with planner at base station • One goal, multiple planners • Military operations (in theory) Attack beach: naval planner, marine planner • Multiple (maybe overlapping, maybe conflicting) goals • Military operations (in practice) • What is shared? • One plan known by everyone • Partially shared plan (marine/navy example) • Completely hidden plan (adversarial planning, chess)

  4. Issues • Who benefits? • Global vs. local utility function? • Who’s in charge? • One person vs. hierarchies vs. nobody • Centralized task/goal allocator, plan merger • Marketplace agents that bid for tasks • How do agents communicate/negotiate? • Rigid protocols • Turn taking, • Chaos

  5. DSIPE • HTN planner based on SIPE • More complex than UMCP • Partial order • Conditions on decomposition rules (filter vs. pre) • Phantomization • Task vs goal muddle • Characteristics: • Multiple planers, partially shared goal • Global utility function (top-level-goal achievement) • Centralized task/goal allocator, plan merger • Partially shared knowledge • Structured protocols

  6. DSIPE A B C B C D F E D F G

  7. What to communicate • Cooperative agents, could use global plan but don’t for efficiency reasons (simplify local plans) • But still want to avoid bad conflicts • Don’t communicate irrelevant stuff • So what is relevant? Use heuristics

  8. Multi-agent Example • Simple “logistics” domain: • Two agents, one resource (a car), differing goals • Drive(?person, ?start, ?end) Pre: inside(?person, car), at(car, ?start) Eff: at(car, ?end), -at(car, ?start) • Enter(?person, ?loc) Pre: at(?person, ?loc), at(car, ?loc) Eff: inside(?person, car), -at(?person, ?loc) • Exit(?person, ?loc) Pre: inside(?person, car), at(car,?loc) Eff: at(?person,?loc), -inside(?person,car) • Surf(?person) Pre: at(?person, beach) Eff: catch-some-waves(?person) • Buy-lotto-ticket(?person) Pre: at(?person, quicky-mart) Eff: have-money(?person)

  9. Multi-agent Example • Simple “logistics” domain: • Two agents, one resource (a car), differing goals • Goal: have-money(you) • Drive(?person, ?start, ?end) Pre: inside(?person, car), at(car, ?start) Eff: at(car, ?end), -at(car, ?start) • Enter(?person, ?loc) Pre: at(?person, ?loc), at(car, ?loc) Eff: inside(?person, car), -at(?person, ?loc) • Exit(?person, ?loc) Pre: inside(?person, car), at(car,?loc) Eff: at(?person,?loc), -inside(?person,car) • Buy-lotto-ticket(?person) Pre: at(?person, quicky-mart) Eff: have-money(?person)

  10. Multi-agent Example • Simple “logistics” domain: • Two agents, one resource (a car), differing goals • Goal: catch-some-waves(?person) • Drive(?person, ?start, ?end) Pre: inside(?person, car), at(car, ?start) Eff: at(car, ?end), -at(car, ?start) • Enter(?person, ?loc) Pre: at(?person, ?loc), at(car, ?loc) Eff: inside(?person, car), -at(?person, ?loc) • Exit(?person, ?loc) Pre: inside(?person, car), at(car,?loc) Eff: at(?person,?loc), -inside(?person,car) • Surf(?person) Pre: at(?person, beach) Eff: catch-some-waves(?person)

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