A.M. Tehrani, M.S. Kamel, and A.M. Khamis
Behaviour-based robotics, behaviour arbitration, reinforcementlearning, Sarsa(λ), adaptive-pseudo-fuzzy approximator
The work presented in this paper aims at combining fuzzy function approximation and reinforcement learning in order to create robotic soccer agents that are able to coordinate their behaviours locally and socially while learning from experience. This simultaneous coordination and learning ability can play a crucial role in improving the behaviour usage of robotic soccer agents. To achieve this goal, a fuzzy reinforcement learning technique for a single agent is first examined and then this technique is applied to multiple agents. The conducted experiments through a soccer simulation system show that the performance of robot scoring speed is improved using the proposed approach.
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