A Cooperative Behavior Control of Robot Group using a Stress Antibody Allotment Reward

カテゴリ: 部門大会

論文No: MC4-1

グループ名: 【C】平成18年電気学会電子・情報・システム部門大会講演論文集

発行日: 2006/09/05

タイトル(英語): A Cooperative Behavior Control of Robot Group using a Stress Antibody Allotment Reward

著者名: 洪秀一 (早稲田大学),宮崎 道雄(関東学院大学),李羲頡 (早稲田大学)

著者名(英語): Su-Ill Hong(Waseda University),Michio Miyazaki(Kanto Gakuin University),Hee-Hyol Lee(Waseda University)

キーワード: reinforcement learning|robot group|cooperative behavior|stress antibody alloment reward|agent

要約(日本語): The reinforcement learning method for two or more robots to carry a lot of luggage to a destination with cooperative behavior is proposed in this paper. There are two sizes of the luggage: large and small, on the grid world, and speed is decreased when the robot carries a large one. The robot carrying luggage is represented as an agent who undergoes stress. The other agent to help the agent, who carries the luggage and undergoes stress, can receive the reward (a Stress Antibody Allotment Reward) from him because the help to the agent reduce his stress. By this method, the other robots will be assigned to a new reward using a learning method to realize cooperative behavior, and then the carrier robot group cooperates willingly and transports luggage quickly. In addition, according to the variation of Q-Value, a dynamical correspondence policy is proposed to elevate an effectiveness of learning.

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