Dynamics based control with an application to area-sweeping problems.

Zinovi Rabinovich, Jeffrey S. Rosenschein, Gal A. Kaminka

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper we introduce Dynamics Based Control (DBC), an approach to planning and control of an agent in stochastic environments. Unlike existing approaches, which seek to optimize expected rewards (e.g., in Partially Observable Markov Decision Problems (POMDPs)), DBC optimizes system behavior towards specified system dynamics. We show that a recently developed planning and control approach, Extended Markov Tracking (EMT) is an instantiation of DBC. EMT employs greedy action selection to provide an efficient control algorithm in Markovian environments. We exploit this efficiency in a set of experiments that applied multi-target EMT to a class of area-sweeping problems (searching for moving targets). We show that such problems can be naturally defined and efficiently solved using the DBC framework, and its EMT instantiation.
Original languageEnglish
Title of host publicationAAMAS'07 - Proceedings of the 6th International Joint Conference on Autonomous Agents and Multiagent Systems
PublisherAssociation for Computing Machinery (ACM)
Pages790-797
Number of pages8
DOIs
StatePublished - 2007
Event6th International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS'07 - Honolulu, HI, United States
Duration: 14 May 200818 May 2008

Conference

Conference6th International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS'07
Country/TerritoryUnited States
CityHonolulu, HI
Period14/05/0818/05/08

Keywords

  • Robotics
  • Dynamic programming

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