Controlling Multiple Cranes Using Multi-Agent Reinforcement Lrarning : Emerging Coordination amoug Competitive Agents (IEICE/IEEE Joint Special Issue on Autonomous Decentralized Systems)
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概要
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This paper describes the Profit-Sharing, a reinforcement learning approach which can be used to design a coordination strategy in a multi-agent system, and demonstrates its effectiveness empirically within a coil-yard of steel manufacture. This domain consists of multiple cranes which are operated asynchronously but need coordination to adjust their initial plans of task execution to avoid the colisions, which would be caused by resource limitation. This problem is beyond the classical expert's hand-coding methods as well as the mathematical analysis, because of scattered information, stochastically generated tasks, and moreover, the difficulties to transact tasks on schedule. In recent few years, many applications of reinforcement learning algorithms based on Dynamic Programming (DP), such as Q-learning, Temporal Difference method, are introduced. They promise optimal performance of the agent in the Markov decision processes (MDP_s), but in the non-MDP_s, such as multiagent domain, there is no guarantee for the convergence of agent's policy. On the other hand, Profit-Sharing is contrastive with DP-based ones, could guarantee the convergence to the rational policy, which means that agent could reach one of the desirable status, even in non-MDP_s, where agents learn concurrently and competitively. Therefore, we embedded Profit-Sharing into the operator of crane to acquire cooperative rules in such a dynamic domain, and introduce its applicability to the realistic world by means of comparing with RAP (Reactive Action Planner) model.
- 社団法人電子情報通信学会の論文
- 2000-05-25
著者
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Kobayashi Shigenobu
Tokyo Institute Of Technology
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ARAI Sachiyo
Carnegie Mellon University
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MIYAZAKI Kazuteru
Tokyo Institute of Technology