Conference Paper

A Novel Multi-robot Coordination Method Based on Reinforcement Learning.

DOI: 10.1007/978-3-540-87442-3_148 Conference: Advanced Intelligent Computing Theories and Applications. With Aspects of Theoretical and Methodological Issues, 4th International Conference on Intelligent Computing, ICIC 2008, Shanghai, China, September 15-18, 2008, Proceedings
Source: DBLP

ABSTRACT Focusing on multi-robot coordination, role transformation and reinforcement learning method are combined in this paper. Under
centralize control framework, the distance nearest rule which means that the nearest robot ranges from obstacles is selected
to be the master robot for controlling salve robots is presented. Meanwhile, different from traditional way which reinforcement
learning is applied in online learning of multi-robot coordination, this paper proposed a novel behavior weight method based
on reinforcement learning, the robot behavior weights are optimized through interacting with environment and the coordination
policy based on maximum behavior value is presented to plan the collision avoidance behavior of robot. The learning method
proposed in this paper is applied to the application related to collaboration movement of mobile robots and demonstrated by
the simulation results presented in this paper.

  • Robotics and Autonomous Systems 10/1995; 15(4):233-235. DOI:10.1016/0921-8890(95)00026-C · 1.11 Impact Factor
  • [Show abstract] [Hide abstract]
    ABSTRACT: We address the manipulation of planar objects by multiple cooperating mobile robots using the concept of object closure, a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. In this paper, we develop a distributed testing algorithm of object caging by multiple cooperative robots. By implementation of a complete testing based on the sufficient and necessary condition of object closure, the proposed algorithm works efficiently even for case to cage an irregular object.
    Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on; 09/2005
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: We present a general framework for the formal specification and algorithmic analysis of hybrid systems. A hybrid system consists of a discrete program with an analog environment. We model hybrid systems as finite automata equipped with variables that evolve continuously with time according to dynamical laws. For verification purposes, we restrict ourselves to linear hybrid systems, where all variables follow piecewise-linear trajectories. We provide decidability and undecidability results for classes of linear hybrid systems, and we show that standard program-analysis techniques can be adapted to linear hybrid systems. In particular, we consider symbolic model-checking and minimization procedures that are based on the reachability analysis of an infinite state space. The procedures iteratively compute state sets that are definable as unions of convex polyhedra in multidimensional real space. We also present approximation techniques for dealing with systems for which the iterat...
    Theoretical Computer Science 02/1995; 138(1):3-34. DOI:10.1016/0304-3975(94)00202-T · 0.52 Impact Factor