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Model-based Reinforcement Learning for Decentralized Multiagent Rendezvous [article]

Rose E. Wang, J. Chase Kew, Dennis Lee, Tsang-Wei Edward Lee, Tingnan Zhang, Brian Ichter, Jie Tan, Aleksandra Faust
2020 arXiv   pre-print
We propose hierarchical predictive planning (HPP), a model-based reinforcement learning method for decentralized multiagent rendezvous.  ...  Next, HPP uses the prediction models to propose and evaluate navigation subgoals for completing the rendezvous task without explicit communication among agents.  ...  Acknowledgments We thank Michael Everett, Oscar Ramirez and Igor Mordatch for the insightful discussions.  ... 
arXiv:2003.06906v2 fatcat:3y3mw4qpefgttimxc4gz2heasm

A class of intelligent agents for coordinated control of outdoor terrain mapping UGVs

K. Fregene, D. Kennedy, R. Madhavan, L.E. Parker, D. Wang
2005 Engineering applications of artificial intelligence  
It is essentially developed around a hybrid control system core so that knowledge-based planning and coordination can be integrated with verified hybrid control primitives to achieve the coordinated control  ...  This article develops a systems-and control-oriented intelligent agent framework called the hybrid intelligent control agent (HICA) and describes its composition into multiagent systems.  ...  Along the same lines, a hierarchical architecture for multiagent multi-modal systems is proposed in Koo (2001) .  ... 
doi:10.1016/j.engappai.2004.12.007 fatcat:5rp6wpabqnfmvhw4ufxkoxdcum

A Framework for Coordinated Control of Multi-Agent Systems [chapter]

Howard Li, Fakhri Karray, Otman Basir
2010 Studies in Computational Intelligence  
Second, a means of predicting the worst-case behavior of the MAS when the scheduling algorithm for ordering is applied. • In order to coordinate the agents during planning, we introduce the concept of  ...  The problem is to develop an intelligent planner for the intelligent coordination control layer to plan the next actions for the agents.  ...  Hence we need Note that x 2 = 0, then we need Rearranging the equations we see that we need on x ∈ B(h) for some h > 0.  ... 
doi:10.1007/978-3-642-14435-6_3 fatcat:h45oj7iy75cxbne7yvjhmvsvei

Promoting Coordination through Policy Regularization in Multi-Agent Deep Reinforcement Learning [article]

Julien Roy, Paul Barde, Félix G. Harvey, Derek Nowrouzezahrai, Christopher Pal
2020 arXiv   pre-print
Finally, we analyze the effects of our proposed methods on the policies that our agents learn and show that our methods successfully enforce the qualities that we propose as proxies for coordinated behaviors  ...  Our experiments show improved performance across many cooperative multi-agent problems.  ...  Acknowledgments and Disclosure of Funding We thank Olivier Delalleau for his insightful feedback and comments.  ... 
arXiv:1908.02269v4 fatcat:rnk6zpb2sfcl7bzpct6zaupipq

CAMPOUT: a control architecture for tightly coupled coordination of multirobot systems for planetary surface exploration

T. Huntsberger, P. Pirjanian, A. Trebi-Ollennu, H.D. Nayar, H. Aghazarian, A.J. Ganino, M. Garrett, S.S. Joshi, P.S. Schenker
2003 IEEE transactions on systems, man and cybernetics. Part A. Systems and humans  
We report on the development of a software/hardware framework for cooperating multiple robots performing such tightly coordinated tasks.  ...  CAMPOUT includes the necessary group behaviors and communication mechanisms for coordinated/cooperative control of heterogeneous robotic platforms.  ...  The main robotics requirements for this task include coordinated grasping and navigation over open terrain by two or more cooperating robots.  ... 
doi:10.1109/tsmca.2003.817398 fatcat:thg2y77vjjcodjphnttfcoviba

Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception and Active Vision

Jorge Pena Queralta, Jussi Taipalmaa, Bilge Can Pullinen, Victor Kathan Sarker, Tuan Nguyen Gia, Hannu Tenhunen, Moncef Gabbouj, Jenni Raitoharju, Tomi Westerlund
2020 IEEE Access  
The one-stage detectors propose predicted boxes from input images directly without region proposal step.  ...  PERCEPTION FEEDBACK IN MULTI-ROBOT PLANNING AND MULTI-ROBOT SEARCH Other works in cooperative active tracking and cooperative active localization, have been presented without necessarily considering spatial  ...  He has served in the Technical Program Committees for all major conferences in his area.  ... 
doi:10.1109/access.2020.3030190 fatcat:exigopjplzgfzlghxvr7s3l3di

Collaborative Multi-Robot Systems for Search and Rescue: Coordination and Perception [article]

Jorge Peña Queralta, Jussi Taipalmaa, Bilge Can Pullinen, Victor Kathan Sarker, Tuan Nguyen Gia, Hannu Tenhunen, Moncef Gabbouj, Jenni Raitoharju, Tomi Westerlund
2020 arXiv   pre-print
The one-stage detectors propose predicted boxes from input images directly without region proposal step.  ...  Perception Feedback in Multi-Robot Planning and Multi-Robot Search Other works in cooperative active tracking and cooperative active localization, have been presented without necessarily considering spatial  ... 
arXiv:2008.12610v1 fatcat:hq5lqtnsoreapjm4dpgg4z5xki

A Multiagent Architecture for Mobile Robot Navigation Using Hierarchical Fuzzy and Sliding Mode Controllers

Dorra Ayedi, Maïssa Boujelben, Chokri Rekik
2018 Mathematical Problems in Engineering  
The use of multiagent system is convenient for such a problem. Hence, we have designed a structure composed of four agents dedicated to perception, navigation, static, and dynamic obstacle avoidance.  ...  Those agents interact through a coordination system.  ...  Among those properties, we mention decentralized control, which permits the continuity of the system even when some parts fail, coordinability, predictability, and adaptability [2, 3] .  ... 
doi:10.1155/2018/9315925 fatcat:i67uulwssvegdi3o3x4sfsdwui

Adapt-Traf: An adaptive multiagent road traffic management system based on hybrid ant-hierarchical fuzzy model

Habib M. Kammoun, Ilhem Kallel, Jorge Casillas, Ajith Abraham, Adel M. Alimi
2014 Transportation Research Part C: Emerging Technologies  
This paper proposes an adaptive multiagent system based on the ant colony behavior and the hierarchical fuzzy model.  ...  The proposed system is implemented and simulated under a multiagent platform in order to discuss the improvement of the global road traffic quality in terms of time, fluidity and adaptivity.  ...  This paper was selected since it adopts a decentralized structure for routing strategy.  ... 
doi:10.1016/j.trc.2014.03.003 fatcat:sahnsazdlvevvoplvgofad4hvy

A Behavior-driven Coordination Control Framework for Target Hunting by UUV Intelligent Swarm

Hongtao Liang, Yanfang Fu, Fengju Kang, Jie Gao, Ning Qiang
2020 IEEE Access  
One of most primitive problems by unmanned underwater vehicle intelligent swarm (UIS) is coordination control, which has a great significance for realization of target hunting with great performance of  ...  Therefore, a novel behavior-driven coordination control framework including topology architecture and swarm control which is inspired by immune mechanism, is investigated for target hunting of heterogeneous  ...  necessary for navigation [38] .  ... 
doi:10.1109/access.2019.2962728 fatcat:fdyziwktd5gp5pjch3uwm7k2ci

Extension of Leader-Follower Behaviours for Wheeled Mobile Robots in Multirobot Coordination

P. Paniagua-Contro, E. G. Hernandez-Martinez, O. González-Medina, J. González-Sierra, J. J. Flores-Godoy, E. D. Ferreira-Vazquez, G. Fernandez-Anaya
2019 Mathematical Problems in Engineering  
The control strategies are based on the decentralized measurements of distance and heading angles.  ...  This paper presents the extension of leader-follower behaviours, for the case of a combined set of kinematic models of omnidirectional and differential-drive wheeled mobile robots.  ...  In [18] , a merging strategy for cooperative vehicles is addressed.  ... 
doi:10.1155/2019/4957259 fatcat:zzoww2n33zcttox2tpe2oklrm4

Multi-agent Hierarchical Reinforcement Learning with Dynamic Termination [chapter]

Dongge Han, Wendelin Böhmer, Michael Wooldridge, Alex Rogers
2019 Lecture Notes in Computer Science  
One obvious possibility is for each agent to broadcast their current intention, for example, the currently executed option in a hierarchical reinforcement learning framework.  ...  Therefore, a key issue in multi-agent systems research is that of predicting the behaviours of others, and responding promptly to changes in such behaviours.  ...  Method In this section we will present our framework for deep decentralized hierarchical multi-agent Q-learning.  ... 
doi:10.1007/978-3-030-29911-8_7 fatcat:uegmi357ynd7po47m25o5htybm

Consensus-based local information coordination for the networked control of the autonomous intersection management

Chairit Wuthishuwong, Ansgar Traechtler
2016 Complex & Intelligent Systems  
Litman [12] predicts the effect of autonomous vehicle technology to the transport planning and [13] surveys of its impact to the vehicle demand and usage.  ...  Many works contributed to the autonomous vehicle such as real-time motion planning in structured and unstructured environment [6, 7] , navigation and control algorithm [8-10] sensor fusion technique and  ...  There are still many creative methods for tackling traffic congestion problem but what they represented one thing in common is that the cooperation and coordination among either vehicles or infrastructures  ... 
doi:10.1007/s40747-016-0032-6 fatcat:eb6y7xfxkjd3jhfea7vkyc6afi

Holonic Manufacturing Execution Systems

P. Valckenaers, H. Van Brussel
2005 CIRP annals  
The design empowers the product instances to drive their own production; the coordination is completely decentralized.  ...  In contrast to many decentralized designs, the manufacturing execution system predicts future behavior and proactively takes measures to prevent impending problems from happening.  ...  These maps provide a coordination medium, which multiple planners can use to cooperate (e.g. operators can plan ahead when to perform cleaning tasks).  ... 
doi:10.1016/s0007-8506(07)60137-1 fatcat:g2g53jrbfrc6fpf3a3gvrsrnrm

Framework for an intelligent earthwork system

Sung-Keun Kim, Jeffrey S Russell
2003 Automation in Construction  
It generates a plan automatically for construction equipment, provides a means of cooperation between construction equipment seamlessly, and improves worker safety.  ...  Especially for semiautonomous and autonomous systems that have great potential for impact on the construction industry, artificial intelligence approaches are required to generate instructions and plans  ...  Path-planning technology Without an automated navigation system for construction equipment, an IES cannot be achieved.  ... 
doi:10.1016/s0926-5805(02)00034-1 fatcat:qskdovlgvjalljw6jw5fjjoz7y
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