Distributed model shaping for scaling to decentralized POMDPs with hundreds of agents
Prasanna Velagapudi, Pradeep Reddy Varakantham, Katia P. Sycara, Paul Scerri · 2011
The use of distributed POMDPs for cooperative teams has been severely limited by the incredibly large joint policyspace that results from combining the policy-spaces of the individual agents. However, much of the computational cost of exploring the entire joint policy space can be avoided by observing that in many domains important interactions between agents occur in a relatively small set of scenarios, previously defined as coordination locales (CLs) [11]. Moreover, even when numerous interactions might occur, given a set of individual policies there are relatively few actual interactions. Exploiting this observation and building on an existing model shaping algorithm, this paper presents D-TREMOR, an algorithm in which cooperative agents iteratively generate individual policies, identify and communicate possible