Multi-agent robotic systems

MOTIVATION, APPROACHES, AND OUTSTANDING ISSUES Why Multiple Robots? Advantages Major Themes Agents and Multiagent Systems Multiagent Robots Towards Cooperative Control Cooperation Related Research Learning, Evolution, and Adaptation Design of Multi-Robot Control Approaches Behavior-Based Robotics Collective Robotics Evolutionary Robotics Inspiration from Biology and Sociology Summary Models and Techniques Reinforcement Learning Genetic Algorithms Artificial Life Artificial Immune System Probabilistic Modeling Related Work on Multi-Robot Planning and Coordination Outstanding Issues Self-Organization Local vs. Global Performance Planning Multi-Robot learning Co-Evolution Emergent Behavior Reactive vs. Symbolic Systems Heterogeneous vs. Homogenous Systems Simulated vs. Physical Robots Dynamics of Multiagent Robotic Systems Summary CASE STUDIES IN LEARNING Multiagent Reinforcement Learning: Techniques Autonomous Group Robots Multiagent Reinforcement Learning Summary Multiagent Reinforcement Learning Results Measurements Group Behaviors Multiagent Reinforcement Learning: What Matters Collective Sensing Initial Spatial Distribution Inverted Sigmoid Function Behavior Selection mechanism Motion Mechanism Emerging a Periodic Motion Macro-Stable but Micro-Unstable Properties Dominant Behavior Evolutionary Multiagent Reinforcement Learning Robot Group Example Evolving Group Motion Strategies Examples Summary CASE STUDIES IN ADAPTATION Coordinated Maneuvers in a Dual-Agent System Issues Dual-Agent Learning Specialized Roles in a Dual-Agent System The Basic Capabilities of the Robot Agent The Rationale of the Advice-Giving Agent Acquiring Complex Maneuvers Summary Collective Behavior Group Behavior The Approach Collective Box-Pushing by Applying Repulsive Forces Collective Box-Pushing by Exerting External Contact Forces and Torques Convergence Analysis for the Fittest-Preserved Evolution Summary CASE STUDIES IN SELF-ORGANIZATION Multiagent Self-Organization Artificial Potential Field Overview of Self-Organization Self-Organization of a Potential Map Experiment 1 Experiment 2 Discussions Evolutionary Multiagent Self-Organization Evolution of Cooperative Motion Strategies Experiments Discussions Summary AN EXPLORATION TOOL Toolboxes for Multiagent Robotics Overview Toolbox for Multiagent Reinforcement Learning Toolbox for Evolutionary Multiagent Reinforcement Learning Toolboxes for Evolutionary Collective Behavior Implementation Toolbox for Multiagent Self-Organization Toolbox for Evolutionary Multiagent Self-Organization Example INDEX