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Deliberation Dialogues for Cooperative Pathfinding

Stokkel, Xeryus (2018) Deliberation Dialogues for Cooperative Pathfinding. Master's Thesis / Essay, Artificial Intelligence.

Xeryus Stokkel - master thesis.pdf

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Cooperative pathfinding research studies coordination algorithms addressing congestions, deadlocks, and collisions in multi-agent systems. In typical algorithms individual agents have no say in resolving conflicts. We propose algorithms in which agents engage in an argumentative dialogue in case of local conflicts,leading to the transparent and fast construction of global solutions. We combine ideas from computational argumentation, multi-agent coordination and continual planning. From computational argumentation we use argumentative deliberation dialogues in which agents discuss and resolve conflicting local plans. From the study of multi-agent coordination we use partial global planning, a distributed method to incrementally create a global plan. Using ideas from continual planning we obtain an online algorithm in which planning and execution are interleaved. We show that our algorithms generally solve cooperative pathfinding problems faster than a state of the art complete and optimal algorithm, at the cost of slightly longer path lengths and gaining the explanatory power of argumentation dialogues. An online version of our algorithm is the fastest with the trade-off that it has the lowest quality paths.

Item Type: Thesis (Master's Thesis / Essay)
Supervisor name: Verheij, H.B. and Verbrugge, L.C.
Degree programme: Artificial Intelligence
Thesis type: Master's Thesis / Essay
Language: English
Date Deposited: 09 May 2018
Last Modified: 11 May 2018 14:37

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