典型文献
Behavioral control task supervisor with memory based on reinforcement learning for human-multi-robot coordination systems
文献摘要：
In this study,a novel reinforcement learning task supervisor(RLTS)with memory in a behavioral control framework is proposed for human-multi-robot coordination systems(HMRCSs).Existing HMRCSs suffer from high decision-making time cost and large task tracking errors caused by repeated human intervention,which restricts the autonomy of multi-robot systems(MRSs).Moreover,existing task supervisors in the null-space-based behavioral control(NSBC)framework need to formulate many priority-switching rules manually,which makes it difficult to realize an optimal behavioral priority adjustment strategy in the case of multiple robots and multiple tasks.The proposed RLTS with memory provides a detailed integration of the deep Q-network(DQN)and long short-term memory(LSTM)knowledge base within the NSBC framework,to achieve an optimal behavioral priority adjustment strategy in the presence of task conflict and to reduce the frequency of human intervention.Specifically,the proposed RLTS with memory begins by memorizing human intervention history when the robot systems are not confident in emergencies,and then reloads the history information when encountering the same situation that has been tackled by humans previously.Simulation results demonstrate the effectiveness of the proposed RLTS.Finally,an experiment using a group of mobile robots subject to external noise and disturbances validates the effectiveness of the proposed RLTS with memory in uncertain real-world environments.
文献关键词：
中图分类号：
作者姓名：
Jie HUANG;Zhibin MO;Zhenyi ZHANG;Yutao CHEN
作者机构：
School of Electrical Engineering and Automation,Fuzhou University,Fuzhou 350108,China;G+Industrial Internet Institute,Fuzhou University,Fuzhou 350108,China;Key Laboratory of Industrial Automation Control Technology and Information Processing of Fujian Province,Fuzhou University,Fuzhou 350108,China
文献出处：
引用格式：
[1]Jie HUANG;Zhibin MO;Zhenyi ZHANG;Yutao CHEN-.Behavioral control task supervisor with memory based on reinforcement learning for human-multi-robot coordination systems)[J].信息与电子工程前沿（英文）,2022(08):1174-1188
A类：
RLTS,HMRCSs,MRSs,NSBC,memorizing,reloads
B类：
Behavioral,control,memory,reinforcement,learning,coordination,systems,In,this,study,novel,behavioral,framework,proposed,Existing,suffer,from,high,decision,making,cost,large,tracking,errors,caused,by,repeated,intervention,which,restricts,autonomy,Moreover,existing,supervisors,null,space,need,formulate,many,priority,switching,rules,manually,makes,difficult,realize,optimal,adjustment,strategy,case,multiple,robots,tasks,provides,detailed,integration,deep,network,DQN,long,short,term,knowledge,within,achieve,presence,conflict,reduce,frequency,Specifically,begins,history,when,are,not,confident,emergencies,then,information,encountering,same,situation,that,has,been,tackled,humans,previously,Simulation,results,demonstrate,effectiveness,Finally,experiment,using,group,mobile,subject,external,noise,disturbances,validates,uncertain,world,environments
AB值：
0.491544
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机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
