2P1-G07 限定的通信手法と強化学習を用いた移動ロボット群のため協調行動獲得方法

概要

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When a robot moves, there should be a lot of information processing underlying o cope with an uncertain environment, especially in cases where many different mobile robots exist. Sensors such as cameras and laser range finders are needed to recognize the environment. But such accurate devices are expensive. By this reason, a short range telecommunication protocol that is simple and inexpensive is needed. This paper is to study a design of co-operative mobile robots in real environment by proposing a telecommunication system that is simple and cheap but acting sufficiently to maintain co-operative behaviors. The idea is to send a robot's "conviction level" with each other and accelerates to prioritize" experienced robots" to gain rapid congestion resolution. The robot learns this behavior by using the conviction level. Action acquisition experiment was done by using the propsed system. The results show the paper actions were learned through this system.