TY - JOUR
T1 - Learning to Self-Reconfigure for Freeform Modular Robots via Altruism Multi-Agent Reinforcement Learning
AU - Wu, Lei
AU - Guo, Bin
AU - Zhang, Qiuyun
AU - Sun, Zhuo
AU - Zhang, Jieyi
AU - Yu, Zhiwen
N1 - Publisher Copyright:
© 2023 International Foundation for Autonomous Agents and Multiagent Systems (www.ifaamas.org). All rights reserved.
PY - 2023
Y1 - 2023
N2 - Modular robots can change between different configurations to adapt to complex and dynamic environments. Therefore, performing accurate and efficient changes to modular robot system, known as the self-reconfiguration problem, is essential. Existing reconfiguration algorithms are based on discrete motion primitives. However, freeform modular robots are connected without alignment and their motion space is continuous, making existing reconfiguration methods infeasible. In this work, we design a parallel distributed self-reconfiguration algorithm based on multi-agent reinforcement learning for freeform modular robots. We introduce a collaboration mechanism into the reinforcement learning to avoid conflicts in continuous action spaces. Simulations show that our algorithm reduces conflicts and improves effectiveness compared to the baselines.
AB - Modular robots can change between different configurations to adapt to complex and dynamic environments. Therefore, performing accurate and efficient changes to modular robot system, known as the self-reconfiguration problem, is essential. Existing reconfiguration algorithms are based on discrete motion primitives. However, freeform modular robots are connected without alignment and their motion space is continuous, making existing reconfiguration methods infeasible. In this work, we design a parallel distributed self-reconfiguration algorithm based on multi-agent reinforcement learning for freeform modular robots. We introduce a collaboration mechanism into the reinforcement learning to avoid conflicts in continuous action spaces. Simulations show that our algorithm reduces conflicts and improves effectiveness compared to the baselines.
KW - Altruism Scale
KW - Modular Robots
KW - Reinforcement Learning
KW - Self-reconfiguration
UR - http://www.scopus.com/inward/record.url?scp=85171285946&partnerID=8YFLogxK
M3 - 会议文章
AN - SCOPUS:85171285946
SN - 1548-8403
VL - 2023-May
SP - 2544
EP - 2546
JO - Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS
JF - Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS
T2 - 22nd International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2023
Y2 - 29 May 2023 through 2 June 2023
ER -