| アイテムタイプ |
共通アイテムタイプ(1) |
| 公開日 |
2025-01-21 |
| タイトル |
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|
タイトル |
Generating Collective Behavior of a Multi-Legged Robotic Swarm Using Deep Reinforcement Learning |
|
言語 |
en |
| 著者 |
森本, 大智
Iwamoto, Yukiha
Hiraga, Motoaki
Ohkura, Kazuhiro
|
| 著作権関連情報 |
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|
権利情報Resource |
https://creativecommons.org/licenses/by-nd/4.0/ |
|
権利情報 |
Copyright (c) Fuji Technology Press Ltd. Creative Commons CC BY-ND: This is an Open Access article distributed under the terms of the Creative Commons Attribution-NoDerivatives 4.0 InternationalLicense (https://creativecommons.org/licenses/by-nd/4.0/) |
| 抄録 |
|
|
内容記述タイプ |
Abstract |
|
内容記述 |
This paper presents a method of generating collective behavior of a multi-legged robotic swarm using deep reinforcement learning. Most studies in swarm robotics have used mobile robots driven by wheels. These robots can operate only on relatively flat surfaces. In this study, a multi-legged robotic swarm was employed to generate collective behavior not only on a flat field but also on rough terrain fields. However, designing a controller for a multi-legged robotic swarm becomes a challenging problem because it has a large number of actuators than wheeled-mobile robots. This paper applied deep reinforcement learning to designing a controller. The proximal policy optimization (PPO) algorithm was utilized to train the robot controller. The controller was trained through the task that required robots to walk and form a line. The results of computer simulations showed that the PPO led to the successful design of controllers for a multi-legged robotic swarm in flat and rough terrains. |
|
言語 |
en |
| 書誌情報 |
en : Journal of Robotics and Mechatronics
巻 35,
号 4,
p. 977-987,
発行日 2023-08-20
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| 出版社 |
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出版者 |
富士技術出版 |
|
言語 |
ja |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
swarm robotics |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
multi-legged robot |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
proximal policy optimization |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
multi-agent reinforcement learning |
| 言語 |
|
|
言語 |
eng |
| 資源タイプ |
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|
資源タイプ識別子 |
http://purl.org/coar/resource_type/c_6501 |
|
資源タイプ |
journal article |
| 出版タイプ |
|
|
出版タイプ |
VoR |
|
出版タイプResource |
http://purl.org/coar/version/c_970fb48d4fbd8a85 |
| DOI |
|
|
|
識別子タイプ |
DOI |
|
|
関連識別子 |
https://doi.org/10.20965/jrm.2023.p0977 |
| NCID |
|
|
収録物識別子タイプ |
NCID |
|
収録物識別子 |
AA10809998 |
| ISSN |
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収録物識別子タイプ |
PISSN |
|
収録物識別子 |
0915-3942 |
| ISSN |
|
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収録物識別子タイプ |
EISSN |
|
収録物識別子 |
1883-8049 |
| 査読の有無 |
|
|
値 |
yes |
| 研究者情報 |
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|
URL |
https://hyokadb02.jimu.kyutech.ac.jp/html/100001769_ja.html |
| 論文ID（連携） |
|
|
値 |
10430271 |
| 連携ID |
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|
値 |
12212 |
10430271.pdf (5.1 MB)
