강화 학습에 의한 소형 자율 이동 로봇의 협동 알고리즘 구현

A reinforcement learning-based method for the cooperative control of mobile robots

This paper proposes methods for the cooperative control of multiple mobile robots and constructs a robotic soccer system in which the cooperation will be implemented as a pass play of two robots. To play a soccer game, elementary actions such as shooting and moving have been designed, and Q-learning, which is one of the popular methods for reinforcement learning, is used to determine what actions to take. Through simulation, learning is successful in case of deliberate initial arrangements of ball and robots, thereby cooperative work can be accomplished.