HMCTS-OP: Hierarchical MCTS Based Online Planning in the Asymmetric Adversarial Environment

Abstract

The Monte Carlo Tree Search (MCTS) has demonstrated excellent performance in solving many planning problems. However, the state space and the branching factors are huge, and the planning horizon is long in many practical applications, especially in the adversarial environment. It is computationally expensive to cover a sufficient number of rewarded states that are far away from the root in the flat non-hierarchical MCTS. Therefore, the flat non-hierarchical MCTS is inefficient for dealing with planning problems with a long planning horizon, huge state space, and branching factors. In this work, we propose a novel hierarchical MCTS-based online planning method named the HMCTS-OP to tackle this issue. The HMCTS-OP integrates the MAXQ-based task hierarchies and the hierarchical MCTS algorithms into the online planning framework. Specifically, the MAXQ-based task hierarchies reduce the search space and guide the search process. Therefore, the computational complexity is significantly reduced. Moreover, the reduction in the computational complexity enables the MCTS to perform a deeper search to find better action in a limited time. We evaluate the performance of the HMCTS-OP in the domain of online planning in the asymmetric adversarial environment. The experiment results show that the HMCTS-OP outperforms other online planning methods in this domain.

Distributed Small-Step Path Planning and Detection Method for Post-earthquake Robot to Inspect and Evaluate Building Damage

“…This involves planning a conflict-free path between the specified start and end positions. For this purpose, there are two solutions as follows: off-line planning (Morozov et al, 2018 ) and online planning (Lu et al, 2020 ). Online planning is more suitable in post-earthquake scenarios with minimal path planning based on energy-saving requirements (Quagliarini et al, 2018 ).…”