Title :
The Application of Peer to Peer SAP-based Q-Learning in Task Assignment to Multiple Robots
Author :
Lijie, Ding ; Hao, Tang ; Lei, Zhou
Author_Institution :
Hefei Univ. of Technol., Hefei
Abstract :
This paper proposes a method of solving the task assignment of high-speed handling system to multiple robots. In order to reduce the state space and improve the efficiency of learning, an improved Q-learning algorithm based on peer to peer SAP is designed. In the proposed algorithm, all the Q value of the peer to peer SAP are updated after take an action, and these Q value are required only one memory unit. Compare to the standard Q-learning algorithm, the results demonstrate the efficiency of the proposed algorithm.
Keywords :
intelligent robots; learning systems; multi-robot systems; state-space methods; Q-learning; high-speed handling system; multiple robots; peer to peer state-action pair; state space; task assignment; Algorithm design and analysis; Application software; Learning systems; Orbital robotics; Peer to peer computing; Robots; Space technology; State-space methods; Peer to peer State-Action Pair; Q-Learning; Task assignment;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4347604
