Title:
Behavioral Diversity in Learning Robot Teams
Behavioral Diversity in Learning Robot Teams
Author(s)
Balch, Tucker
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Abstract
This work investigates the origins of behavioral diversity in learning robot
teams. Behavioral diversity refers to the extent to which agents assume
distinct behavioral roles in a group. Most research in multi-robot teams to
date has centered on homogeneous systems, with work in heterogeneous groups
focused primarily on mechanical and sensor differences between agents. In
contrast, this work examines teams of mechanically identical robots. These
systems are interesting because they may be homogeneous or heterogeneous
depending only on behavior. Behavior is an extremely flexible dimension of
heterogeneity in learning teams because the agents converge to hetero- or
homogeneous solutions on their own. This research provides new tools for the
investigation of behavioral diversity in multi-robot systems and a
significant body of results using these tools in simulated and real mobile
robot experiments. The experiments specifically investigate the relationship
between the reinforcement function used for training and the diversity and
performance of the resulting multi-robot teams.
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Date Issued
1998
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32054481 bytes
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Text
Resource Subtype
Technical Report