Cooperative Behavior Acquisition in Multi Mobile Robots Environment by Reinforcement Learning Based on State Vector Estimation

This paper proposes a method that acquires the purposive behaviors based on the estimation of the state vectors. In order to acquire the cooperative behaviors in multi robot environments, each learning robot estimates local predictive model between the learner and the other objects separately. Based on the local predictive models, robots learn the desired behaviors using reinforcement learning. The proposed method is applied to a soccer playing situation, where a rolling ball and other moving robots are well modeled and the learner’s behaviors are successfully acquired by the method. Computer simulations and real experiments are shown and a discussion is given.