AUTHOR=Di Gennaro Giovanni , Buonanno Amedeo , Fioretti Giovanni , Verolla Francesco , Pattipati Krishna R. , Palmieri Francesco A. N. TITLE=Probabilistic Inference and Dynamic Programming: A Unified Approach to Multi-Agent Autonomous Coordination in Complex and Uncertain Environments JOURNAL=Frontiers in Physics VOLUME=10 YEAR=2022 URL=https://www.frontiersin.org/journals/physics/articles/10.3389/fphy.2022.944157 DOI=10.3389/fphy.2022.944157 ISSN=2296-424X ABSTRACT=

We present a unified approach to multi-agent autonomous coordination in complex and uncertain environments, using path planning as a problem context. We start by posing the problem on a probabilistic factor graph, showing how various path planning algorithms can be translated into specific message composition rules. This unified approach provides a very general framework that, in addition to including standard algorithms (such as sum-product, max-product, dynamic programming and mixed Reward/Entropy criteria-based algorithms), expands the design options for smoother or sharper distributions (resulting in a generalized sum/max-product algorithm, a smooth dynamic programming algorithm and a modified versions of the reward/entropy recursions). The main purpose of this contribution is to extend this framework to a multi-agent system, which by its nature defines a totally different context. Indeed, when there are interdependencies among the key elements of a hybrid team (such as goals, changing mission environment, assets and threats/obstacles/constraints), interactive optimization algorithms should provide the tools for producing intelligent courses of action that are congruent with and overcome bounded rationality and cognitive biases inherent in human decision-making. Our work, using path planning as a domain of application, seeks to make progress towards this aim by providing a scientifically rigorous algorithmic framework for proactive agent autonomy.