Paper:
Language: English:

Adaptive Action Selection of Body Expansion Behavior in Multi-Robot System Using Communication

Tomohisa Fujiki^*, Kuniaki Kawabata^**, and Hajime Asama^*

^*RACE, The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8568, Japan
^**Distributed Adaptive Robotics Research Unit, RIKEN, 2-1 Hirosawa, Wako, Saitama 351-0198, Japan

Received: October 21, 2005

Accepted: December 21, 2006

Keywords: Q-learning, multi-robot system, communication, cooperation, mobile robot

Journal ref: Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol.11, No.2 pp. 142-148, 2007

Abstract

In a multi-robot system, cooperation within robots is essential in order to execute tasks efficiently. The purpose of this study is to investigate how robots cooperate with each other using interactive communication. A fundamental role of communication in a multi-robot system is to control other robots by an intension transmission. We believe that a multi-robot system can be more adaptive by treating communication as an action. In this paper, we implemented the action adjustment function to achieve cooperation between two mobile robots. Also we discuss the results of computer simulations of collision avoidance as an example of cooperative task.

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