Publikation:

Show me What you want : Inverse Reinforcement Learning to Automatically Design Robot Swarms by Demonstration

Lade...
Vorschaubild

Dateien

Zu diesem Dokument gibt es keine Dateien.

Datum

2023

Autor:innen

Gharbi, Ilyes
Garzón Ramos, David
Birattari, Mauro

Herausgeber:innen

Kontakt

ISSN der Zeitschrift

Electronic ISSN

ISBN

Bibliografische Daten

Verlag

Schriftenreihe

Auflagebezeichnung

URI (zitierfähiger Link)
ArXiv-ID

Internationale Patentnummer

Angaben zur Forschungsförderung

European Union (EU): 681872

Projekt

Open Access-Veröffentlichung
Core Facility der Universität Konstanz

Gesperrt bis

Titel in einer weiteren Sprache

Publikationstyp
Beitrag zu einem Konferenzband
Publikationsstatus
Published

Erschienen in

2023 IEEE International Conference on Robotics and Automation (ICRA), Conference Proceedings. Piscataway, NJ: IEEE, 2023, pp. 5063-5070. ISBN 979-8-3503-2365-8. Available under: doi: 10.1109/icra48891.2023.10160947

Zusammenfassung

Automatic design is a promising approach to generating control software for robot swarms. So far, automatic design has relied on mission-specific objective functions to specify the desired collective behavior. In this paper, we explore the possibility to specify the desired collective behavior via demonstrations. We develop Demo-Cho, an automatic design method that combines inverse reinforcement learning with automatic modular design of control software for robot swarms. We show that, only on the basis of demonstrations and without the need to be provided with an explicit objective function, Demo-Cho successfully generated control software to perform four missions. We present results obtained in simulation and with physical robots.

Zusammenfassung in einer weiteren Sprache

Fachgebiet (DDC)
004 Informatik

Schlagwörter

Konferenz

ICRA 2023 : IEEE International Conference on Robotics and Automation, 29. Mai 2023 - 2. Juni 2023, London, UK
Rezension
undefined / . - undefined, undefined

Forschungsvorhaben

Organisationseinheiten

Zeitschriftenheft

Zugehörige Datensätze in KOPS

Zitieren

ISO 690GHARBI, Ilyes, Jonas KUCKLING, David GARZÓN RAMOS, Mauro BIRATTARI, 2023. Show me What you want : Inverse Reinforcement Learning to Automatically Design Robot Swarms by Demonstration. ICRA 2023 : IEEE International Conference on Robotics and Automation. London, UK, 29. Mai 2023 - 2. Juni 2023. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), Conference Proceedings. Piscataway, NJ: IEEE, 2023, pp. 5063-5070. ISBN 979-8-3503-2365-8. Available under: doi: 10.1109/icra48891.2023.10160947
BibTex
@inproceedings{Gharbi2023Inver-69655,
  year={2023},
  doi={10.1109/icra48891.2023.10160947},
  title={Show me What you want : Inverse Reinforcement Learning to Automatically Design Robot Swarms by Demonstration},
  isbn={979-8-3503-2365-8},
  publisher={IEEE},
  address={Piscataway, NJ},
  booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA), Conference Proceedings},
  pages={5063--5070},
  author={Gharbi, Ilyes and Kuckling, Jonas and Garzón Ramos, David and Birattari, Mauro}
}
RDF
<rdf:RDF
    xmlns:dcterms="http://purl.org/dc/terms/"
    xmlns:dc="http://purl.org/dc/elements/1.1/"
    xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
    xmlns:bibo="http://purl.org/ontology/bibo/"
    xmlns:dspace="http://digital-repositories.org/ontologies/dspace/0.1.0#"
    xmlns:foaf="http://xmlns.com/foaf/0.1/"
    xmlns:void="http://rdfs.org/ns/void#"
    xmlns:xsd="http://www.w3.org/2001/XMLSchema#" > 
  <rdf:Description rdf:about="https://kops.uni-konstanz.de/server/rdf/resource/123456789/69655">
    <foaf:homepage rdf:resource="http://localhost:8080/"/>
    <dc:creator>Birattari, Mauro</dc:creator>
    <dc:creator>Kuckling, Jonas</dc:creator>
    <dspace:isPartOfCollection rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/36"/>
    <dc:contributor>Garzón Ramos, David</dc:contributor>
    <void:sparqlEndpoint rdf:resource="http://localhost/fuseki/dspace/sparql"/>
    <dc:creator>Garzón Ramos, David</dc:creator>
    <dcterms:abstract>Automatic design is a promising approach to generating control software for robot swarms. So far, automatic design has relied on mission-specific objective functions to specify the desired collective behavior. In this paper, we explore the possibility to specify the desired collective behavior via demonstrations. We develop Demo-Cho, an automatic design method that combines inverse reinforcement learning with automatic modular design of control software for robot swarms. We show that, only on the basis of demonstrations and without the need to be provided with an explicit objective function, Demo-Cho successfully generated control software to perform four missions. We present results obtained in simulation and with physical robots.</dcterms:abstract>
    <dcterms:isPartOf rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/36"/>
    <dc:contributor>Birattari, Mauro</dc:contributor>
    <dcterms:title>Show me What you want : Inverse Reinforcement Learning to Automatically Design Robot Swarms by Demonstration</dcterms:title>
    <dc:creator>Gharbi, Ilyes</dc:creator>
    <dc:date rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2024-03-20T12:23:10Z</dc:date>
    <dc:contributor>Gharbi, Ilyes</dc:contributor>
    <dc:language>eng</dc:language>
    <bibo:uri rdf:resource="https://kops.uni-konstanz.de/handle/123456789/69655"/>
    <dcterms:issued>2023</dcterms:issued>
    <dcterms:available rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2024-03-20T12:23:10Z</dcterms:available>
    <dc:contributor>Kuckling, Jonas</dc:contributor>
  </rdf:Description>
</rdf:RDF>

Interner Vermerk

xmlui.Submission.submit.DescribeStep.inputForms.label.kops_note_fromSubmitter

Kontakt
URL der Originalveröffentl.

Prüfdatum der URL

Prüfungsdatum der Dissertation

Finanzierungsart

Kommentar zur Publikation

Allianzlizenz
Corresponding Authors der Uni Konstanz vorhanden
Internationale Co-Autor:innen
Universitätsbibliographie
Ja
Begutachtet
Diese Publikation teilen