@inproceedings{9b685faabe7144fdb8028eb8c1daee0d,
title = "Decentralized reinforcement learning applied to mobile robots",
abstract = "In this paper, decentralized reinforcement learning is applied to a control problem with a multidimensional action space. We propose a decentralized reinforcement learning architecture for a mobile robot, where the individual components of the commanded velocity vector are learned in parallel by separate agents. We empirically demonstrate that the decentralized architecture outperforms its centralized counterpart in terms of the learning time, while using less computational resources. The method is validated on two problems: an extended version of the 3-dimensional mountain car, and a ball-pushing behavior performed with a differential-drive robot, which is also tested on a physical setup.",
keywords = "Decentralized control, Multiagent learning, Reinforcement learning, Robot soccer",
author = "Leottau, {David L.} and Aashish Vatsyayan and Javier Ruiz-del-Solar and Robert Babu{\v s}ka",
year = "2017",
doi = "10.1007/978-3-319-68792-6_31",
language = "English",
isbn = "978-3-319-68791-9",
volume = "9776 LNAI",
series = "Lecture Notes in Artificial Intelligence ",
publisher = "Springer",
pages = "368--379",
editor = "Behnke, {Sven } and Sheh, {Raymond } and Sarıel, {Sanem } and Lee, {Daniel D.}",
booktitle = "RoboCup 2016: Robot World Cup XX",
note = "RoboCup 2016: 20th Annual RoboCup International Symposium ; Conference date: 30-06-2016 Through 04-07-2016",
}