2A1-E20 オムニホイールを備えた自律ロボット群の強化学習による協調行動獲得

Abstract

We have been developing a new reinforcement learning called BRL, which is proved to be especially effective to multi-robot systems(MRS). In this paper, we apply extended BRL to control three robots with two omni wheels. In this system, robots need to deal with uncertain state transition derived from passive movement by omni wheels. This uncertainty means robots have to segment their state and action spaces carefully. As a result of the experiment, robots acquired a necessary action for the task achievement.