Cooperative control of modular space robots
β Scribed by Chiara Toglia; Fred Kennedy; Steven Dubowsky
- Publisher
- Springer US
- Year
- 2011
- Tongue
- English
- Weight
- 932 KB
- Volume
- 31
- Category
- Article
- ISSN
- 0929-5593
No coin nor oath required. For personal study only.
π SIMILAR VOLUMES
In a multi-agent system, action selection is important for the cooperation and coordination among agents. As the environment is dynamic and complex, modular Q-learning, which is one of the reinforcement learning schemes, is employed in assigning a proper action to an agent in the multi-agent system.
The manipulation of a rigid object by two cooperating robots is considered. If only the position of the object is of interest, the inverse dynamic problem is redundant, because the number of available actuators exceeds the number of degrees of freedom of the object. Introducing the internal force de