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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(Document in English)
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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) |
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Audience (conference): | International conference proceedings |
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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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