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このアイテムの引用には次の識別子を使用してください: http://hdl.handle.net/10445/8451

タイトル: Learning to Avoid Collisions in a Group of Mobile Robots by Using Simple Communication Technique
著者: Sasaki, Keita
Marcolino, Leandro Soriano
Wakahara, Takumi
MIKAMI, Sadayoshi
アブストラクト: Mobile robots should share their working environment with many other different types of robots. To manage good traffic flow for heterogeneous robot groups, we believe the robots should adapt their behavior to give their ways by using a simple and cheap communication method which many types of robots can easily implement. In this paper, we propose a single value signal communication protocol and the use of “infrared asynchronous communication” to avoid obstacles and deadlock between robots. Based on a value exchange, give-way behaviors are selected by using Reinforcement learning controllers. We conducted experiments with three robots with their paths to the destination overlapped. The results showed that the robots were able to learn an appropriate behavior in relatively short learning terms.
研究業績種別: 国際会議/International Conference
資料種別: Conference Paper
査読有無: あり/yes
単著共著: 共著/joint
発表雑誌名,発表学会名など: 12th International Symposium on Advanced Intelligent Systems
開始ページ: 176
終了ページ: 179
年月日: 2011年9月29日
出現コレクション:三上 貞芳

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