For Full-Text PDF, please login, if you are a member of IEICE,|
or go to Pay Per View on menu list, if you are a nonmember of IEICE.
An Approach to the Piano Mover's Problem Using Hierarchic Reinforcement Learning
Yuko ISHIWAKA Tomohiro YOSHIDA Hiroshi YOKOI Yukinori KAKAZU
IEICE TRANSACTIONS on Information and Systems
Publication Date: 2004/08/01
Print ISSN: 0916-8532
Type of Manuscript: PAPER
Category: Distributed Cooperation and Agents
reinforcement learning, piano mover's problem, heterogeneous multi-agent, find-path problem, obstacle avoidance,
Full Text: PDF(1.7MB)>>
We attempt to achieve corporative behavior of autonomous decentralized agents constructed via Q-Learning, which is a type of reinforcement learning. As such, in the present paper, we examine the piano mover's problem including a find-path problem. We propose a multi-agent architecture that has an external agent and internal agents. Internal agents are homogenous and can communicate with each other. The movement of the external agent depends on the composition of the actions of the internal agents. By learning how to move through the internal agents, avoidance of obstacles by the object is expected. We simulate the proposed method in a two-dimensional continuous world. Results obtained in the present investigation reveal the effectiveness of the proposed method.