A Decentralized Partially Observable Decision Model for Recognizing the Multiagent Goal in Simulation Systems

Algorithm 1

Goal inference based on the marginal filter under the framework of Dec-POMDM.

Set ,   % Initialization

For ,   % We totally have observations

 Foreach

  If

   Foreach which satisfies that

    Foreach which satisfies that

     Foreach which satisfies that

      Foreach which satisfies that

         % A temp memory of a particle

         % Find out the record which is equal to in

       If is not empty

          % Merge the weight

       Else

          % Add a new record in

  Else

   Foreach which satisfies that

    Foreach which satisfies that

     Foreach which satisfies that

        % A temp memory of a particle

        % Find out the record which is equal to in

      If is not empty

         % Merge the weight

      Else

         % Add a new record in map