Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Introduction to Reinforcement Learning
Introduction to Reinforcement Learning
Multi-robot collaboration for robust exploration
Annals of Mathematics and Artificial Intelligence
Coverage for robotics – A survey of recent results
Annals of Mathematics and Artificial Intelligence
Reinforcement Learning in the Multi-Robot Domain
Autonomous Robots
A Reinforcement Learning Algorithm in Cooperative Multi-Robot Domains
Journal of Intelligent and Robotic Systems
Probabilistic policy reuse in a reinforcement learning agent
AAMAS '06 Proceedings of the fifth international joint conference on Autonomous agents and multiagent systems
On redundancy, efficiency, and robustness in coverage for multiple robots
Robotics and Autonomous Systems
Multiagent Systems: Algorithmic, Game-Theoretic, and Logical Foundations
Multiagent Systems: Algorithmic, Game-Theoretic, and Logical Foundations
Dynamic analysis of multiagent Q-learning with ε-greedy exploration
ICML '09 Proceedings of the 26th Annual International Conference on Machine Learning
Proceedings of The 8th International Conference on Autonomous Agents and Multiagent Systems - Volume 1
Simultaneous adversarial multi-robot learning
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Methods for task allocation via agent coalition formation
Artificial Intelligence
Automatic Generation of Persistent Formations for Multi-agent Networks Under Range Constraints
Mobile Networks and Applications
Using spatial hints to improve policy reuse in a reinforcement learning agent
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 1
Weighted voting game based multi-robot team formation for distributed area coverage
Proceedings of the 3rd International Symposium on Practical Cognitive Agents and Robots
Coordinated multi-robot exploration
IEEE Transactions on Robotics
Multi-robot coalition formation
IEEE Transactions on Robotics
IEEE Transactions on Robotics
Effects of Multi-Robot Team Formations on Distributed Area Coverage
International Journal of Swarm Intelligence Research
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We consider the problem of dynamically adjusting the formation and size of robot teams performing distributed area coverage, when they encounter obstacles or occlusions along their path. Based on our earlier formulation of the robotic team formation problem as a coalitional game called a weighted voting game (WVG), we show that the robot team size can be dynamically adapted by adjusting the WVG's quota parameter. We use a Q-learning algorithm to learn the value of the quota parameter and a policy reuse mechanism to adapt the learning process to changes in the underlying environment. Experimental results using simulated e-puck robots within the Webots simulator show that our Q-learning algorithm converges within a finite number of steps in different types of environments. Using the learning algorithm also improves the performance of an area coverage application where multiple robot teams move in formation to explore an initially unknown environment by 5−10%.