Teamwork formation for keepaway in robotics soccer (reinforcement learning approach)

Authors:
Nobuyuki Tanaka;Sachiyo Arai
Affiliations:
Chiba University, Inage, Chiba, Japan;Chiba University, Inage, Chiba, Japan
Venue:
PRIMA'06 Proceedings of the 9th Pacific Rim international conference on Agent Computing and Multi-Agent Systems
Year:
2006

Citing 5
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Abstract

In this paper, we discuss guidelines for a reward design problem that defines when and what amount of reward should be given to the agents, within the context of reinforcement learning approach. We take keepaway soccer as a standard task of multiagent domain which requires skilled teamwork. The difficulties of designing reward for good teamwork are due to its features as follows: i) since it is a continuing task which has no explicit goal, it is hard to tell when reward should be given to the agents, ii) since it is a multiagent cooperative task, it is hard to make a fair share of the reward for each agent’s contribution. Through some experiments, we show that reward design have a major effect on the agent’s behavior, and introduce the reward function that makes agents perform keepaway successfully.