Browse > Article
http://dx.doi.org/10.5391/JKIIS.2007.17.5.591

Reinforcement Learning Based Evolution and Learning Algorithm for Cooperative Behavior of Swarm Robot System  

Seo, Sang-Wook (중앙대학교 전자전기공학부)
Kim, Ho-Duck (중앙대학교 전자전기공학부)
Sim, Kwee-Bo (중앙대학교 전자전기공학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.17, no.5, 2007 , pp. 591-597 More about this Journal
Abstract
In swarm robot systems, each robot must behaves by itself according to the its states and environments, and if necessary, must cooperates with other robots in order to carry out a given task. Therefore it is essential that each robot has both learning and evolution ability to adapt the dynamic environments. In this paper, the new polygon based Q-learning algorithm and distributed genetic algorithms are proposed for behavior learning and evolution of collective autonomous mobile robots. And by distributed genetic algorithm exchanging the chromosome acquired under different environments by communication each robot can improve its behavior ability Specially, in order to improve the performance of evolution, selective crossover using the characteristic of reinforcement learning is adopted in this paper. we verify the effectiveness of the proposed method by applying it to cooperative search problem.
Keywords
Behavior Learning; Evolution; Swarm Robot; Group Behavior; Cooperative strategy; Q-learning;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 Ding Yingying, He Yan, Jiang jing-Ping, 'Self-Organizing Multi-robot System Based on Personality Evolution', Proc. of the IEEE International Conference on Systems, Man and Cybernetics, 2002
2 윤한얼, 심귀보, '다수 로봇의 목표물 탐색을 위한 Area-Based Q-leaming 알고리즘', 한국퍼지 및 지능 시스템학회 논문지, 제15권, 제4호, pp. 406-411, 2005   과학기술학회마을   DOI
3 Mohd Ridzuan Ahmad, Shamsudin H.M. Amin, Rosbi Mamat, 'Development of Decentralized Based Reactive Control Strategy for Intelligent Multi-Agent Mobile Robotics System', Proc. of the Seventh International Conference on Control, Automation, Robotics And Vision, pp. 220-227, Dec. 2002
4 Jing Huang, Bo Yang, Da-You Liu, 'A Distributed Q-leaming Algorithm for Multi-Agent Team Coordination', Proc. of the Fourth International Conference on Machine Learning and Cybernetics, pp. 108-113, August. 2005
5 Izzet Can Envarli, Julie A. Adams, 'Task Lists for Human-Multiple Robot Interaction', Proc. of the IEEE International Workshop on Robots and Human Interaction Communication, pp. 119-124, Aug. 2005
6 Tong Zhou, Bing-Rong Hong, Chao-Xia Shi, Hong-Yu Zhou, 'Cooperative Behavior Acquisition Based Modular Q-learning m Multi-Agent System', Proc. of the Fourth International Conference on Machine Learning and Cybernetics, pp 205-210, August. 2005
7 Jindong Tan, Ning Xi, Weihua Sheng and Jizhong Xiao, 'Modeling Multiple Robot Systems for Area Coverage and Cooperation', Proc. of the 2004 IEEE International Conference on Robotics & Automation, Vol. 3, pp. 2568-2573, New Orleans, LA, April, 2004
8 Vaithilingam Kumarathasan, Thrishantha Nanayakkara, 'Intelligent Collaboration among Robotic Agents for Landmine Detection', Proc. of the Annual Sessions of the Sri Lanka Association for Artificial Intelligence, 2005
9 Thomas W. Dunbar, Joel M. Esposito, 'Artificial Potential Field Controllers for Robust Communications in a Network of Swarm Robots', Proc. of the Thirty-Seventh Southeastern Symposium, pp. 401-405, March. 2005
10 Alessabdro de Luna Almeida, Samir Aknine, Jean-Pierre Briot, Jacques Malenfant, 'Plan-Based Replication for Fault-Tolerant Multi - Agent Systems', Proc. of the 20th International Parallel and Distributed Processing Symposium, 2006
11 Xiaojiang Zhang, 'Fuzzy control system for a mobile robot collision avoidance', Pro. of the IEEE International Conference on Industrial Technology, pp. 125-128, 1994
12 Mary Berna-Koes, Illah Nourbakhsh, Katia Sycara, 'Communication Efficiency in Multi-Agent Systems', Proc. of the IEEE International Conference on Robotics & Automation, pp. 2129-2134, April. 2004
13 Alain Cardon, Thierry Galinho, Ieari-Philippe Vacher, 'Genetic algorithm using multi-objectives in a multi-agent system', Proc. of Robotics and Autonomous System, pp. 179-190, 2000
14 Prasanna Sridhar, Shahab Sheikh-Bahaei, Shan Xia, Mo Jamshidi, 'Multi agent Simulation using Discrete Event and Soft-computing Methodologies', Proc. of the IEEE International Conference on Systems, Man and Cybernetics, Vol. 1, pp 1004-1012, Dec, 2003
15 Chris A. C. Parker, Hong Zhang, 'A Practical Implementation of Random Peer-to-Peer Communication for a Multiple-Robot System', Proc. of the IEEE International Conference on Robotics and Automation, pp. 3730- 3735, April. 2007
16 Ou Haitao, Zhang Weidong, Zhang Wenyuan, Xu Xiaoming, 'A novel multi-agent Q-leaming algorithm in cooperative multi-agent system', Proc. of the 3rd World Congress on Intelligent Control and Automation, pp. 272-276, 2000