Emergent Cooperative Strategies for Multi-Agent Shepherding via Reinforcement Learning
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866911403020910592 |
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| author | Napolitano, Italo Lama, Andrea De Lellis, Francesco di Bernardo, Mario |
| author_facet | Napolitano, Italo Lama, Andrea De Lellis, Francesco di Bernardo, Mario |
| contents | We present a decentralized reinforcement learning (RL) approach to address the multi-agent shepherding control problem, departing from the conventional assumption of cohesive target groups. Our two-layer control architecture consists of a low-level controller that guides each herder to contain a specific target within a goal region, while a high-level layer dynamically selects from multiple targets the one an herder should aim at corralling and containing. Cooperation emerges naturally, as herders autonomously choose distinct targets to expedite task completion. We further extend this approach to large-scale systems, where each herder applies a shared policy, trained with few agents, while managing a fixed subset of agents. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_05454 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Emergent Cooperative Strategies for Multi-Agent Shepherding via Reinforcement Learning Napolitano, Italo Lama, Andrea De Lellis, Francesco di Bernardo, Mario Systems and Control We present a decentralized reinforcement learning (RL) approach to address the multi-agent shepherding control problem, departing from the conventional assumption of cohesive target groups. Our two-layer control architecture consists of a low-level controller that guides each herder to contain a specific target within a goal region, while a high-level layer dynamically selects from multiple targets the one an herder should aim at corralling and containing. Cooperation emerges naturally, as herders autonomously choose distinct targets to expedite task completion. We further extend this approach to large-scale systems, where each herder applies a shared policy, trained with few agents, while managing a fixed subset of agents. |
| title | Emergent Cooperative Strategies for Multi-Agent Shepherding via Reinforcement Learning |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2411.05454 |