Cooperative algorithm and group behavior in multirobot

Seong-Woo Hong; Kwang-Soo Park; Shang-Woon Shin; Doo-Sung Ahn

doi:10.1117/12.444224

5 October 2001 Cooperative algorithm and group behavior in multirobot

Seong-Woo Hong, Kwang-Soo Park, Shang-Woon Shin, Doo-Sung Ahn

Proceedings Volume 4572, Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision; (2001) https://doi.org/10.1117/12.444224
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

In a multi-agent system, the action selection strategy is important for the cooperation and coordination of multi agents. However the overlap of actions selected individually by each robot makes the acquisition of cooperation behaviors less efficient. In addition to that, a complex and dynamic environment makes cooperation even more difficult. So in this paper, we propose a control algorithm which enables each robot to determine the action for the effective cooperation in multi-robot system. We employ a reinforcement learning in order to choose a proper action for each robot in its action subspace. In this paper, robot soccer system is adopted for the multi-robot environment. To play a soccer game, elementary actions such as shooting and passing must be provided. Q-learning, which is one of the popular methods for reinforcement learning, is used to determine what actions to take. Through simulations, the efficiency of own proposed algorithm is verified for the cooperation in multi robot system.

Citation Download Citation

Seong-Woo Hong, Kwang-Soo Park, Shang-Woon Shin, and Doo-Sung Ahn "Cooperative algorithm and group behavior in multirobot", Proc. SPIE 4572, Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision, (5 October 2001); https://doi.org/10.1117/12.444224

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