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Sep, 2022
可扩展的基于任务驱动的机器人群控制: 碰撞回避和学习的均场控制
Scalable Task-Driven Robotic Swarm Control via Collision Avoidance and Learning Mean-Field Control
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Kai Cui, Mengguang Li, Christian Fabian, Heinz Koeppl
TL;DR
本文提出了一种基于均场控制的智能机器人群体行为设计框架,结合碰撞避免和均场控制学习,通过单智能体分布控制实现多智能体分布控制,实现分布式开环应用并避免碰撞,并在理论和实践上对其进行了有效性验证。
Abstract
In recent years,
reinforcement learning
and its multi-agent analogue have achieved great success in solving various complex control problems. However, multi-agent
reinforcement learning
remains challenging both i
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