Robot formations as an emergent collective task using target-following behavior
Saved in:
| Main Author: | |
|---|---|
| Format: | Artículo científico |
| Language: | en |
| Published: |
Asociación Española para la Inteligencia Artificial
2003
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866815726179844096 |
|---|---|
| author | Diego Ariel Bendersky |
| author_facet | Diego Ariel Bendersky |
| contents | Robot formations as an emergent collective task using target-following behavior Diego Ariel Bendersky Juan Miguel Santos Ingeniería Robot space Target Action behavior Robot formations imply the establishment and the maintenance of a predetermined geometric shapeby a group of robots. In this work, we achieve formations using robots with proximity sensors of shortdetection range and no inter-robot communication equipment. This fact turns the synthesis probleminto a hard one compared to those cases where the robot has information about the absolute locationof the other robots, or has sensors with a higher range limit. The robot formations emerge from anindividual behavior called target-following which we synthesize using Reinforcement Learning (RL).We propose a task decomposition technique based on an action space transformation that allows us toreduce considerably the time needed for learning and overcomes some difficulties that arise with theuse of RLfor this particular problem. Preliminary results support the feasibility of this method forthe synthesis of robot formation behaviors of different shapes 2003 artículo científico 1137-3601 https://www.redalyc.org/articulo.oa?id=92572103 en http://www.redalyc.org/revista.oa?id=925 Inteligencia Artificial. Revista Iberoamericana de Inteligencia Artificial application/pdf Asociación Española para la Inteligencia Artificial Inteligencia Artificial. Revista Iberoamericana de Inteligencia Artificial (España) Num.21 Vol.7 |
| format | Artículo científico |
| id | redalyc_92572103 |
| language | en |
| publishDate | 2003 |
| publisher | Asociación Española para la Inteligencia Artificial |
| spellingShingle | Robot formations as an emergent collective task using target-following behavior Diego Ariel Bendersky Ingeniería Robot space Target Action behavior Robot formations as an emergent collective task using target-following behavior Diego Ariel Bendersky Juan Miguel Santos Ingeniería Robot space Target Action behavior Robot formations imply the establishment and the maintenance of a predetermined geometric shapeby a group of robots. In this work, we achieve formations using robots with proximity sensors of shortdetection range and no inter-robot communication equipment. This fact turns the synthesis probleminto a hard one compared to those cases where the robot has information about the absolute locationof the other robots, or has sensors with a higher range limit. The robot formations emerge from anindividual behavior called target-following which we synthesize using Reinforcement Learning (RL).We propose a task decomposition technique based on an action space transformation that allows us toreduce considerably the time needed for learning and overcomes some difficulties that arise with theuse of RLfor this particular problem. Preliminary results support the feasibility of this method forthe synthesis of robot formation behaviors of different shapes 2003 artículo científico 1137-3601 https://www.redalyc.org/articulo.oa?id=92572103 en http://www.redalyc.org/revista.oa?id=925 Inteligencia Artificial. Revista Iberoamericana de Inteligencia Artificial application/pdf Asociación Española para la Inteligencia Artificial Inteligencia Artificial. Revista Iberoamericana de Inteligencia Artificial (España) Num.21 Vol.7 |
| title | Robot formations as an emergent collective task using target-following behavior |
| topic | Ingeniería Robot space Target Action behavior |
| url | https://www.redalyc.org/articulo.oa?id=92572103 |