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Cooperative Q-learning with heterogeneity in actions

Cooperative Q-learning with heterogeneity in actions

引用

2002 IEEE International Conference on systems, Man and Cybernetics

作者： Reza Mirfattah, S.M. Ahmadabadi, Majid Nili Robotics and AI Laboratory Department of Electrical Engineering University of Tehran P.O. Box: 14395/15 Tehran Iran School of Intelligent Systems Inst. Studs. on Theor. Phys./Math. Tehran Iran

Cooperation in learning improves the speed of convergence and the quality of learning. Special care is needed when heterogeneous agents cooperate in learning. It is discussed that, cooperation in learning may cause the learning process to diverge if heterogeneity is not handled properly. In this paper, it is assumed that two heterogeneous Q-learning agents cooperate to learn. The heterogeneity is assumed in their action order (and not in their action set). A Q-learning-based method is introduced for the agents to learn the mapping among their actions. It is shown that, the agents are able to learn this mapping while cooperate in learning. Some simulation results are reported to show the effectiveness of the proposed method.

关键词： Learning systems

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Affecting the accuracy of an active vision head 2nd

引用

2nd Hellenic Conference on Artificial Intelligence, SETN 2002

作者： Gasteratos, Antonios Sandini, Giulio Laboratory of Electronics Section of Electronics and Information Systems Technology Department of Electrical and Computer Engineering Democritus University of Thrace XanthiGR-671 00 Greece Laboratory for Integrated Advanced Robotics Department of Communication Computer and System Sciences University of Genoa Viale Causa 13 GenoaI-16145 Italy

ISBN: (纸本)3540434720

In any measuring system the categorization of the error generation factors leads to simplification of complex error problems and to higher suppression of the error. In this paper we categorize, quantify and analyze the errors that affect a binocular active vision head. Simulations have been made and experimental results on a high resolution pan-tilt-vergence mechanism are also proposed. As a conclusion it can be said that the system performs optimal when it is initialized so that the two cameras are perfectly aligned and perpendicular to the baseline. Small variations in the vergence angle or small horizontal deviations of the principal point alters the measurement dramatically. On the other hand, variations in pan and tilt and vertical deviations of the principal point, affect the measurement insignificantly. © Springer-Verlag Berlin Heidelberg 2002.

关键词： Errors

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A new approach to credit assignment in a team of cooperative Q-learning agents

A new approach to credit assignment in a team of cooperative...

引用

2002 IEEE International Conference on systems, Man and Cybernetics

作者： Harati, Ahad Ahmadabadi, Majid Nili Robotics and AI Laboratory Department of Electrical Engineering University of Tehran P.O. Box: 14395/15 Tehran Iran School of Intelligent Systems Inst. Studs. on Theor. Phys./Math. Tehran Iran

Q-learning is widely used in many multi agent systems. In most cases, a separate critic is considered for qualifying each individual agent behavior or it is assumed that the critic is completely aware of effects of all agents' actions on the team qualification. But, in many cases, the role of each team member in the group performance is not known. In order to distribute a common credit among the agents, a suitable criterion must be provided to estimate the role of each agent in the team performance and to judge if an agent has done a wrong action. In this paper two such criteria, named Certainty and Expertness, for a team of agents with parallel tasks are introduced. In addition, two methods for reinforcing the agents based on the proposed measures are provided. Some simulation results are also reported to show the effectiveness of the proposed measures and methods.

关键词： Learning systems

来源：评论

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Control of a 3-dimensional snake-like robot for analysis of sinus-lifting motion

Control of a 3-dimensional snake-like robot for analysis of ...

引用

SICE Annual Conference

作者： Y. Ohmameuda Shugen Ma Department of Systems Engineering Ibaraki University Hitachi Japan Robotics Laboratory CAS Shenyang Institute of Automation Shenyang China

Biological snakes' diverse locomotion modes and physiology make them supremely adapted for environment. The special structure of snakes and their unique movement offer them peculiar ability of climbing and moving even in some ill-conditioned environments such as on the marshland or in narrow tubes. The aim of this study is to elucidate a 3-dimensional motion of the snake, sinus-lifting motion, which is a phenomenon observed during rapid motion of the snake. The sinus-lifting creeping motion is an adaptive function peculiar to regular creeping motion, designed to prevent slippage in the normal direction of the body and to allow application of the greatest possible motive force. In this paper, we first discuss the controllability of the snake robot for analysis of sinus-lifting creeping mode. We utilized a 3-dimensional snake robot model to show the controllability of the robot through the computer simulation.

关键词： Motion control Motion analysis Mobile robots Controllability robotics and automation Computer simulation Shape control Wheels Automatic control Biological control systems

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Entire region filling in indoor environments using neural networks

Entire region filling in indoor environments using neural ne...

引用

World Congress on Intelligent Control and Automation (WCICA)

作者： Chaomin Luo S.X. Yang M. Meng Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph Canada Department of Electrical and Computer Engineering University of Alberta Edmonton Canada

Entire region filling is a special type of robot path planning strategy that requires the mobile robot to cover every part of the whole workspace, which has many applications such as cleaning robots, vacuum cleaners, painter robots, land mine detectors, lawn mowers, and window cleaners. In this paper, a novel biologically inspired neural network approach is proposed for entire region filling with obstacle avoidance of a mobile cleaning robot in a nonstationary environment. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation or an additive equation derived from Hodgkin and Huxley's (1952) membrane equation. There are only local lateral connections among neurons. Thus the computational complexity linearly depends on the neural network size. The robot path is autonomously generated from the dynamic activity landscape of the neural network and the previous robot location. The proposed model algorithm is computationally efficient. It can deal with an unstructured environment with irregular obstacles. The effectiveness of the proposed model is demonstrated by simulation results.

关键词： Filling Indoor environments Neural networks Mobile robots Equations Cleaning Landmine detection Neurons Computational modeling Path planning

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A remote control system using Java and CORBA architecture

A remote control system using Java and CORBA architecture

引用

World Congress on Intelligent Control and Automation (WCICA)

作者： Hao Li S.X. Yang Fangju Wang Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph Canada Computing & Information Science Department University of Guelph Guelph Canada

Membranes hold promise as a new water treatment method of the future. In this study, a device is designed to test the efficiency of membranes. The device is implemented to be controlled remotely. An Internet based remote control system is implemented on the membrane test device to make the users access to it easier. When using the system, a remote operator only needs a general purpose computer with Internet connection to conduct a test. The engineering objective is to perform robust control over the Internet connection. A control architecture that combines computer and the membrane testing hardware is built. This system has two primary parts, the server part and the client part. A server is used to provide the application to the operator to control the hardware. The client part is executed on the remote operator's computer. The client uses a TCP/IP protocol to connect to the server through the Internet. Communication coordination between the client and the server is developed using Java and Common Object Request Broker Architecture (CORBA).

关键词： Control systems Java Biomembranes Internet Web server System testing Computer architecture Hardware Robust control Application software

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Cooperative Q-learning with heterogeneity in actions

Cooperative Q-learning with heterogeneity in actions

引用

IEEE International Conference on systems, Man and Cybernetics

作者： S.M. Reza MirFattah M.N. Ahmadabadi Institute for Studies on Theoretical Physics and Mathematics School of Intelligent Systems Tehran Iran Robotics and AI Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

Cooperation in learning improves the speed of convergence and the quality of learning. Special care is needed when heterogeneous agents cooperate in learning. It is discussed that, cooperation in learning may cause the learning process to diverge if heterogeneity is not handled properly. In this paper, it is assumed that two heterogeneous Q-learning agents cooperate to learn. The heterogeneity is assumed in their action order (and not in their action set). A Q-learning-based method is introduced for the agents to learn the mapping among their actions. It is shown that, the agents are able to learn this mapping while cooperating in learning. Some simulation results are reported to show the effectiveness of the proposed method.

关键词： Intelligent agent Intelligent robots Humans Telecommunication control Artificial intelligence Laboratories Intelligent systems Physics Mathematics Convergence

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A new approach to credit assignment in a team of cooperative Q-learning agents

A new approach to credit assignment in a team of cooperative...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： A. Harati M.N. Ahmadabadi Institute for Studies on Theoretical Physics and Mathematics School of Intelligent Systems Tehran Iran Robotics and AI Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

Q-learning is widely used in many multi agent systems. In most cases, a separate critic is considered for qualifying each individual agent behavior or it is assumed that the critic is completely aware of effects of all agents' actions on the team qualification. But, in many cases, the role of each team member in the group performance is not known. In order to distribute a common credit among the agents, a suitable criterion must be provided to estimate the role of each agent in the team performance and to judge if an agent has done a wrong action. In this paper two such criteria, named certainty and expertness, for a team of agents with parallel tasks are introduced. In addition, two methods for reinforcing the agents based on the proposed measures are provided. Some simulation results are also reported to show the effectiveness of the proposed measures and methods.

关键词： Intelligent agent Learning systems Multiagent systems Intelligent sensors Artificial intelligence Laboratories Intelligent systems Intelligent robots Physics Mathematics

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Real-time area-covering operations with obstacle avoidance for cleaning robots

Real-time area-covering operations with obstacle avoidance f...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Chaomin Luo S.X. Yang Xiaobu Yuan Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada School of Computer Science Windsor University Windsor ONT Canada

An area-covering operation is a kind of complete coverage path planning, which requires the robot path to cover every part of the workspace, which is an essential issue in cleaning robots and many other robotic applications such as vacuum, robots, painter robots, land mine detectors, lawn mowers, and windows cleaners. In this paper, a novel biologically inspired neural network approach is proposed for complete coverage path planning with obstacle avoidance of a cleaning robot in a nonstationary environment. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation or an additive equation derived from Hodgkin and Huxley's (1952) membrane equation. There are only local lateral connections among neurons. Thus the computational complexity linearly depends on the neural network size. The proposed model algorithm is computationally efficient, and can also deal with changing environment. Simulation results show that the proposed model is capable of planning collision-free complete coverage robot path.

关键词： Cleaning Robots Path planning Neural networks Equations Landmine detection Neurons Computational modeling Detectors Biomembranes

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Variable structure control of a redundant robotic manipulator

Variable structure control of a redundant robotic manipulato...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： H.O. Dimo Dewen Jin Jichuan Zhang W.A. Gruver Department of Precision Instruments and Mechanology School of Mechanical Engineering Tsinghua University Beijing China Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

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