Towards concurrent Q-learning on linked multi-component robotic systems

Authors:
Borja Fernandez-Gauna;Jose Manuel Lopez-Guede;Manuel Graña
Affiliations:
University of the Basque Country (UPV/EHU);University of the Basque Country (UPV/EHU);University of the Basque Country (UPV/EHU)
Venue:
HAIS'11 Proceedings of the 6th international conference on Hybrid artificial intelligent systems - Volume Part II
Year:
2011

Citing 8
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Abstract

When conventional Q-Learning is applied to Multi-Component Robotic Systems (MCRS), increasing the number of components produces an exponential growth of state storage requirements. Modular approaches make the state size growth polynomial on the number of components, making more manageable its representation and manipulation. In this article, we give the first steps towards a modular Q-learning approach to learn the distributed control of a Linked MCRS, which is a specific type of MCRSs in which the individual robots are linked by a passive element. We have chosen a paradigmatic application of this kind of systems: a set of robots carrying the tip of a hose from some initial position to a desired goal. The hose dynamics is simplified to be a distance constraint on the robots positions.