This paper addresses a problem of attaining desired geometric formation for a group of homogeneous robots using distributed reinforcement learning. The challenges for learning by experience requires huge time and data samples. In multi-agent system (MAS), individual learning becomes more complex as it has to cooperate with its neighboring agent. In this work, a group of homogeneous robots models a single controller while performing a task in a decentralized manner. The framework uses an actor-critic architecture for local learning and its update law is identified using Lyapunov stability analysis. However, a global single controller is achieved by using average consensus protocol. Simulation as well as the experimental results have been given to demonstrate the proposed algorithm.
|Title of host publication||2018 European Control Conference, ECC 2018|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|Publication status||Published - 27 Nov 2018|
|Event||2018 European Control Conference, ECC 2018 - Limassol, Cyprus|
Duration: 12 Jun 2018 → 15 Jun 2018
|Name||2018 European Control Conference, ECC 2018|
|Conference||2018 European Control Conference, ECC 2018|
|Period||12/06/18 → 15/06/18|
- Multi-agent systems
- actor-critic network
- distributed reinforcement learning
- formation control.
Shinde, C., Das, K., Kumar, S., & Behera, L. (2018). Distributed Reinforcement Learning Based Optimal Controller for Mobile Robot Formation. In 2018 European Control Conference, ECC 2018 (pp. 2800-2805). (2018 European Control Conference, ECC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ECC.2018.8550590