{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,24]],"date-time":"2026-03-24T01:21:24Z","timestamp":1774315284383,"version":"3.50.1"},"reference-count":39,"publisher":"SAGE Publications","issue":"14","license":[{"start":{"date-parts":[[2016,12,1]],"date-time":"2016-12-01T00:00:00Z","timestamp":1480550400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2016,12]]},"abstract":"<jats:p> We introduce a principled method for multi-robot coordination based on a general model (termed a MacDec-POMDP) of multi-robot cooperative planning in the presence of stochasticity, uncertain sensing, and communication limitations. A new MacDec-POMDP planning algorithm is presented that searches over policies represented as finite-state controllers, rather than the previous policy tree representation. Finite-state controllers can be much more concise than trees, are much easier to interpret, and can operate over an infinite horizon. The resulting policy search algorithm requires a substantially simpler simulator that models only the outcomes of executing a given set of motor controllers, not the details of the executions themselves and can solve significantly larger problems than existing MacDec-POMDP planners. We demonstrate significant performance improvements over previous methods and show that our method can be used for actual multi-robot systems through experiments on a cooperative multi-robot bartending domain. <\/jats:p>","DOI":"10.1177\/0278364916679611","type":"journal-article","created":{"date-parts":[[2017,1,9]],"date-time":"2017-01-09T13:46:27Z","timestamp":1483969587000},"page":"1760-1778","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":31,"title":["Policy search for multi-robot coordination under uncertainty"],"prefix":"10.1177","volume":"35","author":[{"given":"Christopher","family":"Amato","sequence":"first","affiliation":[{"name":"College of Computer and Information Science, Northeastern University, Boston"}]},{"given":"George","family":"Konidaris","sequence":"additional","affiliation":[{"name":"Computer Science Department, Brown University, Providence"}]},{"given":"Ariel","family":"Anders","sequence":"additional","affiliation":[{"name":"CSAIL, MIT, Cambridge, USA"}]},{"given":"Gabriel","family":"Cruz","sequence":"additional","affiliation":[{"name":"CSAIL, MIT, Cambridge, USA"}]},{"given":"Jonathan P","family":"How","sequence":"additional","affiliation":[{"name":"LIDS, MIT, Cambridge, USA"}]},{"given":"Leslie P","family":"Kaelbling","sequence":"additional","affiliation":[{"name":"CSAIL, MIT, Cambridge, USA"}]}],"member":"179","published-online":{"date-parts":[[2017,1,9]]},"reference":[{"key":"bibr1-0278364916679611","doi-asserted-by":"publisher","DOI":"10.1007\/s10458-009-9103-z"},{"key":"bibr2-0278364916679611","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2013.6760239"},{"key":"bibr3-0278364916679611","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139350"},{"key":"bibr4-0278364916679611","first-page":"1273","volume-title":"Proceedings of the international conference on autonomous agents and multiagent systems","author":"Amato C","year":"2014"},{"key":"bibr5-0278364916679611","first-page":"593","volume-title":"Proceedings of the international conference on autonomous agents and multiagent systems","author":"Amato C","year":"2009"},{"key":"bibr6-0278364916679611","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914528255"},{"key":"bibr7-0278364916679611","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2007.339624"},{"key":"bibr8-0278364916679611","doi-asserted-by":"publisher","DOI":"10.1613\/jair.2667"},{"key":"bibr9-0278364916679611","doi-asserted-by":"publisher","DOI":"10.1287\/moor.27.4.819.297"},{"key":"bibr10-0278364916679611","first-page":"478","volume-title":"Proceedings of the international joint conference on artificial intelligence","author":"Boutilier C","year":"1999"},{"key":"bibr11-0278364916679611","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913483345"},{"key":"bibr12-0278364916679611","first-page":"1023","volume-title":"Proceedings of the national conference on artificial intelligence","author":"Cassandra AR","year":"1994"},{"key":"bibr13-0278364916679611","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2003.1249210"},{"key":"bibr14-0278364916679611","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570273"},{"key":"bibr15-0278364916679611","unstructured":"Foote T (2015) turtlebot_navigation - ros wiki. 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