刘海涛, 洪炳镕, 乔立民, 朴松昊. 多智能体机器人系统分散式通信决策研究[J]. 机器人, 2007, 29(6): 540-545..
LIU Hai-tao, HONG Bing-rong, QIAO Li-min, PIAO Song-hao. Research on Decentralized Communication Decision in the Multi-Agent Robotic System. ROBOT, 2007, 29(6): 540-545..
Abstract：In order to reduce communication amount in the coordination of multi-agent robotic system,this paper presents a novel approach to make communication decisions in a decentralized fashion.The possible joint beliefs of the team are represented based on a directed acyclic graph,and communication is chosen only when an agent’s local observations indicate that the shared information will lead to an increase in expected reward.The centralized single-agent policies are applied to decentralized multi-agent POMDPs by maintaining and reasoning over the possible joint beliefs of the team.Experiment and a detailed example show that the presented approach can reduce communication amount and improve the distributed execution performance.
 Xuan P,Lesser V.Multi-agent policies:From centralized ones to decentralized ones[A].Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems[C].New York,NY,USA:ACM,2002.1098-1105.
 Goldman C V,Zilberstein S.Decentralized control of cooperative systems:Categorization and complexity analysis[J].Journal of Artificial Intelligence Research,2004,22:143-174.
 Hansen E A,Bernstein D S,Zilberstein S.Dynamic programming for partially observable stochastic games[A].Proceedings of the Nineteenth National Conference on Artificial Intelligence[C].Menlo Park,CA,USA:AAAI,2004.709-715.
 Peshkin L,Kim K E,Meuleau N,et al.Learning to cooperate via policy search[A].Proceedings of the Sixteenth Conference on Uncertainty in Artificial Intelligence[C].USA:Morgan Kaufmann,2000.489-496.
 Pynadath D V,Tambe M.The communicative multiagent team decision problem:Analyzing teamwork theories and models[J].Journal of Artificial Intelligence Research,2002,16:389-423.
 Nair R,Tambe M,Roth M,et al.Communication for improving policy computation in distributed POMDPs[A].Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems[C].New York,NY,USA:ACM,2004.1098-1105.
 Roth M,Simmons R,Veloso M.Decentralized communication strategies for coordinated multi-agent policies[A].Multi-Robot Systems:From Swarms to Intelligent Automata Vol.Ⅲ[C].Dordrecht,Netherlands:Springer,2005.93-106.
 Littman M L,Cassandra A,Kaelbling L.Learning policies for partially observable environments:Scaling up[A].Proceedings of the 12th International Conference on Machine Learning[C].San Francisco,CA:Morgan Kaufmann Publishers,1995.362-370.