
Type of publication:  Inproceedings 
Entered by:  JOSM 
Title  Stochastic optimal control in continuous spacetime multiagent systems 
Bibtex cite ID  
Booktitle  Proceedings of the 22nd Conference on Uncertainty in Artificial Intelligence (UAI 2006) 
Year published  2006 
Month  July 
Location  1316 July 2006, Cambridge, USA 
Keywords  stochastic optimal control,multiagent systems 
Abstract  Recently, a theory for stochastic optimal control in nonlinear dynamical systems in continuous spacetime has been developed (Kappen, 2005). We apply this theory to collaborative multiagent systems. The agents
evolve according to a given nonlinear dynamics with additive Wiener noise. Each
agent can control its own dynamics. The goal
is to minimize the accumulated joint cost,
which consists of a state dependent term and
a term that is quadratic in the control. We focus on systems of noninteracting agents that
have to distribute themselves optimally over
a number of targets, given a set of endcosts
for the different possible agenttarget combinations. We show that optimal control is
the combinatorial sum of independent single
agent singletarget optimal controls weighted
by a factor proportional to the endcosts
of the different combinations. Thus, multi
agent control is related to a standard graphical model inference problem. The additional
computational cost compared to singleagent
control is exponential in the treewidth of the
graph specifying the combinatorial sum times
the number of targets. We illustrate the result by simulations of systems with up to 42
agents. 
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