Multiagent Robotic Systems / Edition 1

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Multiagent Robotic Systems addresses learning and adaptation in decent ralized autonomous robots. It provides a guided tour of the pioneering work and major technical issues in multiagent robotics research. Its systematic examination demonstrates the interrelationships between the autonomy of individual robots and the emerged global behavior propert ies of a group performing a cooperative task. The author also includes descriptions of the essential building blocks of the architecture of autonomous mobile robots with respect to their requirement on local be havioral conditioning and group behavioral evolution.

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Product Details

Table of Contents


Why Multiple Robots?
Major Themes
Agents and Multiagent Systems
Multiagent Robots

Towards Cooperative Control
Cooperation Related Research
Learning, Evolution, and Adaptation
Design of Multi-Robot Control

Behavior-Based Robotics
Collective Robotics
Evolutionary Robotics
Inspiration from Biology and Sociology

Models and Techniques
Reinforcement Learning
Genetic Algorithms
Artificial Life
Artificial Immune System
Probabilistic Modeling
Related Work on Multi-Robot Planning and Coordination

Outstanding Issues
Local vs. Global Performance
Multi-Robot learning
Emergent Behavior
Reactive vs. Symbolic Systems
Heterogeneous vs. Homogenous Systems
Simulated vs. Physical Robots
Dynamics of Multiagent Robotic Systems


Multiagent Reinforcement Learning: Techniques
Autonomous Group Robots
Multiagent Reinforcement Learning

Multiagent Reinforcement Learning Results
Group Behaviors

Multiagent Reinforcement Learning: What Matters
Collective Sensing
Initial Spatial Distribution
Inverted Sigmoid Function
Behavior Selection mechanism
Motion Mechanism
Emerging a Periodic Motion
Macro-Stable but Micro-Unstable Properties
Dominant Behavior

Evolutionary Multiagent Reinforcement Learning
Robot Group Example
Evolving Group Motion Strategies


Coordinated Maneuvers in a Dual-Agent System
Dual-Agent Learning
Specialized Roles in a Dual-Agent System
The Basic Capabilities of the Robot Agent
The Rationale of the Advice-Giving Agent
Acquiring Complex Maneuvers

Collective Behavior
Group Behavior
The Approach
Collective Box-Pushing by Applying Repulsive Forces
Collective Box-Pushing by Exerting External Contact Forces and Torques
Convergence Analysis for the Fittest-Preserved Evolution


Multiagent Self-Organization
Artificial Potential Field
Overview of Self-Organization
Self-Organization of a Potential Map
Experiment 1
Experiment 2

Evolutionary Multiagent Self-Organization
Evolution of Cooperative Motion Strategies


Toolboxes for Multiagent Robotics
Toolbox for Multiagent Reinforcement Learning
Toolbox for Evolutionary Multiagent Reinforcement Learning
Toolboxes for Evolutionary Collective Behavior Implementation
Toolbox for Multiagent Self-Organization
Toolbox for Evolutionary Multiagent Self-Organization


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