멀티 태스크 수행을 위한 멀티에이전트의 동적 협력그래프 생성과 MAX-PLUS 방법을 통한 행동결정

Action Selection of Multi-Agent by dynamic coordination graph and MAX-PLUS algorithm for Multi-Task Completion

In the multi-agent system for a single task, the action selection can be made for the real-time environment by using the global coordination space, global coordination graph and MAX-PLUS algorithm. However, there are some difficulties in multi-agent system for multi-tasking. In this paper, a real-time decision making method is suggested by using coordination space, coordination graph and dynamic coordinated state of multi-agent system including many agents and multiple tasks. Specifically, we propose locally dynamic coordinated state to effectively use MAX-PLUS algorithm for multiple tasks completion. Our technique is shown to be valid in the box pushing simulation of a multi-agent system.