Since August 2003, I have been a visiting student at Stanford
University. My Ph.D., however, is from the Robotics Institute at
CMU. This site is an up-to-date version of my CMU site.
I successfully defended my thesis on August 12, 2005. My
dissertation deals with the problem of decentralized decision making in
a team of robots with limited communication. These types of problems
can be modeled as partially observable stochastic games (POSGs) with
common payoffs; however, the optimal solution to such games is
computationally intractable. The Bayesian Game approximation
algorithm (BaGA), is a method for finding approximate solutions to
POSGs by interleaving planning and execution. Domains covered
in my dissertation include multi-robot herding problems and variations of
laser-tag as well as the more canonical Lady and the Tiger and
Multiple Access Broadcast Channel.
An abstract of my dissertation, Game-Theoretic Control for Robot
Teams, can be found here.
My thesis advisors were Sebastian Thrun and Jeff Schneider. For my
first two years at CMU I was advised by Tucker Balch who is now at
Georgia Tech. With Tucker, I participated in RoboCup 2000 and 2001.
Computer Science Department
353 Serra Mall
Gates Building 116
Stanford, CA 94305
Work Phone: (650)725-8790
Email: remery [at] cs [dot] cmu [dot] edu