Item – Theses Canada

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OCLC number
1334672550
Link(s) to full text
LAC copy
Author
Daniluk, Steven.
Title
An Advice Mechanism for Heterogeneous Robot Teams.
Degree
M.A.S. -- University of Toronto, 2017.
Publisher
[Toronto, Ontario] : University of Toronto, 2017
Description
1 online resource
Abstract
The use of reinforcement learning for robot teams has enabled complex tasks to be performed, but at the cost of requiring a large amount of exploration. Exchanging information between robots in the form of advice is one method to accelerate performance improvements. This thesis presents an advice mechanism for robot teams that utilizes advice from heterogeneous advisers via a method guaranteeing convergence to an optimal policy. The presented mechanism has the capability to use multiple advisers at each time step, and decide when advice should be requested and accepted, such that the use of advice decreases over time. Additionally, collective collaborative, and cooperative behavioural algorithms are integrated into a robot team architecture, to create a new framework that provides fault tolerance and modularity for robot teams.
Other link(s)
tspace.library.utoronto.ca
hdl.handle.net
Subject
Advice
Multi Agent Systems
Reinforcement Learning
Robot Teams