Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Decentralized Control of Partially Observable Markov Decision Processes
  using Belief Space Macro-actions   The focus of this paper is on solving multi-robot planning problems in
continuous spaces with partial observability. Decentralized partially
observable Markov decision processes (Dec-POMDPs) are general models for
multi-robot coordination problems, but representing and solving Dec-POMDPs is
often intractable for large problems. To allow for a high-level representation
that is natural for multi-robot problems and scalable to large discrete and
continuous problems, this paper extends the Dec-POMDP model to the
decentralized partially observable semi-Markov decision process (Dec-POSMDP).
The Dec-POSMDP formulation allows asynchronous decision-making by the robots,
which is crucial in multi-robot domains. We also present an algorithm for
solving this Dec-POSMDP which is much more scalable than previous methods since
it can incorporate closed-loop belief space macro-actions in planning. These
macro-actions are automatically constructed to produce robust solutions. The
proposed method's performance is evaluated on a complex multi-robot package
delivery problem under uncertainty, showing that our approach can naturally
represent multi-robot problems and provide high-quality solutions for
large-scale problems.

6
The categories of this paper are: astro-ph
20
The categories of this paper are: acc-phys
35
The categories of this paper are: mtrl-th
2
The categories of this paper are: math
0
The categories of this paper are: hep-ph
27
The categories of this paper are: comp-gas
30
The categories of this paper are: q-alg
10
The categories of this paper are: q-bio
15
The categories of this paper are: nucl-ex
37
The categories of this paper are: supr-con
26
The categories of this paper are: bayes-an
4
The categories of this paper are: cond-mat
3
The categories of this paper are: physics
34
The categories of this paper are: chem-ph
25
The categories of this paper are: patt-sol
19
The categories of this paper are: eess