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Adapting an MDP planner to time-dependency: case study on a UAV coordination problem

Rachelson, Emmanuel and Fabiani, Patrick and Garcia, Frédérick Adapting an MDP planner to time-dependency: case study on a UAV coordination problem. (2009) In: 4th Workshop on Planning and Plan Execution for Real-World Systems, 19 September 2009 - 23 September 2009 (Thessaloniki, Greece).

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Abstract

In order to allow the temporal coordination of two independent communicating agents, one needs to be able to plan in a time-dependent environment. This paper deals with the modeling and solving of such problems through the use of Time-dependent Markov Decision Processes (TiMDPs). We provide an analysis of the TiMDP model and exploit its properties to introduce an improved asynchronous value iteration method. Our approach is evaluated on a UAV temporal coordination problem and on the well-known Mars rover domain.

Item Type:Conference or Workshop Item (Paper)
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:French research institutions > Institut National de la Recherche Agronomique - INRA (FRANCE)
French research institutions > Office National d'Etudes et Recherches Aérospatiales - ONERA (FRANCE)
Other partners > Technical University of Crete (GREECE)
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Deposited On:29 Nov 2017 15:50

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