Distributed Planning in Hierarchical Factored MDPs

Understand

We present a principled and efficient planning algorithm for collaborative multiagent dynamical systems.

• All computation, during both the planning and the execution phases, is distributed among the agents; each agent only needs to model and plan for a small part of the system.
• Each of these local subsystems is small, but once they are combined they can represent an exponentially larger problem.
• The subsystems are connected through a subsystem hierarchy.