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Learning to Avoid Collisions in a Group of Mobile Robots by Using Simple Communication Technique
http://hdl.handle.net/10445/8451
http://hdl.handle.net/10445/8451390ed001-c67a-4138-b879-f85fa01b9a24
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
2011-09-29-ISIS2011-Sasaki-176p.pdf (489.3 kB)
Download is available from 2999/12/31.
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| Item type | 会議発表論文 / Conference Paper(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2017-03-24 | |||||
| タイトル | ||||||
| タイトル | Learning to Avoid Collisions in a Group of Mobile Robots by Using Simple Communication Technique | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
| 資源タイプ | conference paper | |||||
| 著者 |
Sasaki, Keita
× Sasaki, Keita× Marcolino, Leandro Soriano× Wakahara, Takumi× MIKAMI, Sadayoshi |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | Mobile robots should share their working environment with many other different types of robots. To manage good traffic flow for heterogeneous robot groups, we believe the robots should adapt their behavior to give their ways by using a simple and cheap communication method which many types of robots can easily implement. In this paper, we propose a single value signal communication protocol and the use of “infrared asynchronous communication” to avoid obstacles and deadlock between robots. Based on a value exchange, give-way behaviors are selected by using Reinforcement learning controllers. We conducted experiments with three robots with their paths to the destination overlapped. The results showed that the robots were able to learn an appropriate behavior in relatively short learning terms. | |||||
| 書誌情報 |
12th International Symposium on Advanced Intelligent Systems p. 176-179, 発行日 2011-09-29 |
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| 査読有無 | ||||||
| 値 | あり/yes | |||||
| 研究業績種別 | ||||||
| 値 | 国際会議/International Conference | |||||
| 単著共著 | ||||||
| 値 | 共著/joint | |||||
