Multi-agent planning in stochastic environments can be framed formally as a decentralized Markov decision problem. Many real-life distributed problems that arise in manufacturing, multi-robot coordination and information gathering scenarios can be formalized using this framework. However, finding the optimal solution in the general case is hard, limiting the applicability of recently developed algorithms. This paper provides a practical approach for solving decentralized control problems when communication among the decision makers is possible, but costly. We develop the notion of communication-based mechanism that allows us to decompose a decentralized MDP into multiple single-agent problems. In this framework, referred to as decentralized semi-Markov decision process with direct communication (Dec-SMDP-Com), agents operate separately between communications. We show that finding an optimal mechanism is equivalent to solving optimally a Dec-SMDP-Com. We also provide a heuristic search algorithm that converges on the optimal decomposition. Restricting the decomposition to some specific types of local behaviors reduces significantly the complexity of planning. In particular, we present a polynomial-time algorithm for the case in which individual agents perform goal-oriented behaviors between communications. The paper concludes with an additional tractable algorithm that enables the introduction of human knowledge, thereby reducing the overall problem to finding the best time to communicate. Empirical results show that these approaches provide good approximate solutions.

Multi-robot path planning is difficult due to the combinatorial explosion of the search space with every new robot added. Complete search of the combined state-space soon becomes intractable. In this paper we present a novel form of abstraction that allows us to plan much more efficiently. The key to this abstraction is the partitioning of the map into subgraphs of known structure with entry and exit restrictions which we can represent compactly. Planning then becomes a search in the much smaller space of subgraph configurations. Once an abstract plan is found, it can be quickly resolved into a correct (but possibly sub-optimal) concrete plan without the need for further search. We prove that this technique is sound and complete and demonstrate its practical effectiveness on a real map. A contending solution, prioritised planning, is also evaluated and shown to have similar performance albeit at the cost of completeness. The two approaches are not necessarily conflicting; we demonstrate how they can be combined into a single algorithm which outperforms either approach alone.

Informally, a set of abstractions of a state space S is additive if the distance between any two states in S is always greater than or equal to the sum of the corresponding distances in the abstract spaces. The first known additive abstractions, called disjoint pattern databases, were experimentally demonstrated to produce state of the art performance on certain state spaces. However, previous applications were restricted to state spaces with special properties, which precludes disjoint pattern databases from being defined for several commonly used testbeds, such as Rubiks Cube, TopSpin and the Pancake puzzle. In this paper we give a general definition of additive abstractions that can be applied to any state space and prove that heuristics based on additive abstractions are consistent as well as admissible. We use this new definition to create additive abstractions for these testbeds and show experimentally that well chosen additive abstractions can reduce search time substantially for the (18,4)-TopSpin puzzle and by three orders of magnitude over state of the art methods for the 17-Pancake puzzle. We also derive a way of testing if the heuristic value returned by additive abstractions is provably too low and show that the use of this test can reduce search time for the 15-puzzle and TopSpin by roughly a factor of two.

Value iteration is a powerful yet inefficient algorithm for Markov decision processes (MDPs) because it puts the majority of its effort into backing up the entire state space, which turns out to be unnecessary in many cases. In order to overcome this problem, many approaches have been proposed. Among them, ILAO* and variants of RTDP are state-of-the-art ones. These methods use reachability analysis and heuristic search to avoid some unnecessary backups. However, none of these approaches build the graphical structure of the state transitions in a pre-processing step or use the structural information to systematically decompose a problem, whereby generating an intelligent backup sequence of the state space. In this paper, we present two optimal MDP algorithms. The first algorithm, topological value iteration (TVI), detects the structure of MDPs and backs up states based on topological sequences. It (1) divides an MDP into strongly-connected components (SCCs), and (2) solves these components sequentially. TVI outperforms VI and other state-of-the-art algorithms vastly when an MDP has multiple, close-to-equal-sized SCCs. The second algorithm, focused topological value iteration (FTVI), is an extension of TVI. FTVI restricts its attention to connected components that are relevant for solving the MDP. Specifically, it uses a small amount of heuristic search to eliminate provably sub-optimal actions; this pruning allows FTVI to find smaller connected components, thus running faster. We demonstrate that FTVI outperforms TVI by an order of magnitude, averaged across several domains. Surprisingly, FTVI also significantly outperforms popular `heuristically-informed' MDP algorithms such as ILAO*, LRTDP, BRTDP and Bayesian-RTDP in many domains, sometimes by as much as two orders of magnitude. Finally, we characterize the type of domains where FTVI excels --- suggesting a way to an informed choice of solver.

This report outlines an approach to learning generative models from data. We express models as probabilistic programs, which allows us to capture abstract patterns within the examples. By choosing our language for programs to be an extension of the algebraic data type of the examples, we can begin with a program that generates all and only the examples. We then introduce greater abstraction, and hence generalization, incrementally to the extent that it improves the posterior probability of the examples given the program. Motivated by previous approaches to model merging and program induction, we search for such explanatory abstractions using program transformations. We consider two types of transformation: Abstraction merges common subexpressions within a program into new functions (a form of anti-unification). Deargumentation simplifies functions by reducing the number of arguments. We demonstrate that this approach finds key patterns in the domain of nested lists, including parameterized sub-functions and stochastic recursion.

This paper describes Marvin, a planner that competed in the Fourth International Planning Competition (IPC 4). Marvin uses action-sequence-memoisation techniques to generate macro-actions, which are then used during search for a solution plan. We provide an overview of its architecture and search behaviour, detailing the algorithms used. We also empirically demonstrate the effectiveness of its features in various planning domains; in particular, the effects on performance due to the use of macro-actions, the novel features of its search behaviour, and the native support of ADL and Derived Predicates.

We describe how to convert the heuristic search algorithm A* into an anytime algorithm that finds a sequence of improved solutions and eventually converges to an optimal solution. The approach we adopt uses weighted heuristic search to find an approximate solution quickly, and then continues the weighted search to find improved solutions as well as to improve a bound on the suboptimality of the current solution. When the time available to solve a search problem is limited or uncertain, this creates an anytime heuristic search algorithm that allows a flexible tradeoff between search time and solution quality. We analyze the properties of the resulting Anytime A* algorithm, and consider its performance in three domains; sliding-tile puzzles, STRIPS planning, and multiple sequence alignment. To illustrate the generality of this approach, we also describe how to transform the memory-efficient search algorithm Recursive Best-First Search (RBFS) into an anytime algorithm.

This paper is concerned with a class of algorithms that perform exhaustive search on propositional knowledge bases. We show that each of these algorithms defines and generates a propositional language. Specifically, we show that the trace of a search can be interpreted as a combinational circuit, and a search algorithm then defines a propositional language consisting of circuits that are generated across all possible executions of the algorithm. In particular, we show that several versions of exhaustive DPLL search correspond to such well-known languages as FBDD, OBDD, and a precisely-defined subset of d-DNNF. By thus mapping search algorithms to propositional languages, we provide a uniform and practical framework in which successful search techniques can be harnessed for compilation of knowledge into various languages of interest, and a new methodology whereby the power and limitations of search algorithms can be understood by looking up the tractability and succinctness of the corresponding propositional languages.

Solution-Guided Multi-Point Constructive Search (SGMPCS) is a novel constructive search technique that performs a series of resource-limited tree searches where each search begins either from an empty solution (as in randomized restart) or from a solution that has been encountered during the search. A small number of these "elite solutions is maintained during the search. We introduce the technique and perform three sets of experiments on the job shop scheduling problem. First, a systematic, fully crossed study of SGMPCS is carried out to evaluate the performance impact of various parameter settings. Second, we inquire into the diversity of the elite solution set, showing, contrary to expectations, that a less diverse set leads to stronger performance. Finally, we compare the best parameter setting of SGMPCS from the first two experiments to chronological backtracking, limited discrepancy search, randomized restart, and a sophisticated tabu search algorithm on a set of well-known benchmark problems. Results demonstrate that SGMPCS is significantly better than the other constructive techniques tested, though lags behind the tabu search.

Most classical scheduling formulations assume a fixed and known duration for each activity. In this paper, we weaken this assumption, requiring instead that each duration can be represented by an independent random variable with a known mean and variance. The best solutions are ones which have a high probability of achieving a good makespan. We first create a theoretical framework, formally showing how Monte Carlo simulation can be combined with deterministic scheduling algorithms to solve this problem. We propose an associated deterministic scheduling problem whose solution is proved, under certain conditions, to be a lower bound for the probabilistic problem. We then propose and investigate a number of techniques for solving such problems based on combinations of Monte Carlo simulation, solutions to the associated deterministic problem, and either constraint programming or tabu search. Our empirical results demonstrate that a combination of the use of the associated deterministic problem and Monte Carlo simulation results in algorithms that scale best both in terms of problem size and uncertainty. Further experiments point to the correlation between the quality of the deterministic solution and the quality of the probabilistic solution as a major factor responsible for this success.