Real-World Deployment of a Hierarchical Uncertainty-Aware Collaborative Multiagent Planning System

Understand

We would like to enable a collaborative multiagent team to navigate at long length scales and under uncertainty in real-world environments.

• In practice, planning complexity scales with the number of agents in the team, with the length scale of the environment, and with environmental uncertainty.
• Enabling tractable planning requires developing abstract models that can represent complex, high-quality plans.
• However, such models often abstract away information needed to generate directly-executable plans for real-world agents in real-world environments, as planning in such detail, especially in the presence of real-world uncertainty, would be computationally intractable.