Reinforcement learning control for coordinated manipulation of multi-robots

Li, Yanan, Chen, Long, Tee, Keng Peng and Li, Qingquan (2015) Reinforcement learning control for coordinated manipulation of multi-robots. Neurocomputing, 170. pp. 168-175. ISSN 0925-2312

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In this paper, coordination control is investigated for multi-robots to manipulate an object with a common desired trajectory. Both trajectory tracking and control input minimization are considered for each individual robot manipulator, such that possible disagreement between different manipulators can be handled. Reinforcement learning is employed to cope with the problem of unknown dynamics of both robots and the manipulated object. It is rigorously proven that the proposed method guarantees the coordination control of the multi-robots system under study. The validity of the proposed method is verified through simulation studies.

Item Type: Article
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Yanan Li
Date Deposited: 15 Dec 2017 09:43
Last Modified: 02 Jul 2019 17:04

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