Open Access
Lecture Notes in Computer Science, volume 12336 LNAI, pages 160-169
Q-Learning of Spatial Actions for Hierarchical Planner of Cognitive Agents
Kiselev Gleb
1
,
Panov Aleksandr
1, 2
Publication type: Book Chapter
Publication date: 2020-09-29
Journal:
Lecture Notes in Computer Science
Quartile SCImago
Q3
Quartile WOS
—
Impact factor: —
ISSN: 03029743, 16113349, 18612075, 18612083
Abstract
In the paper, we consider the problem of the robotic movement inaccuracy. We suggest that clarifying the abstract actions of the behavior planner will help build more precise control of the robot. A multi-agent planner for the synthesis of the abstract actions with refinement for a two-dimensional movement task was proposed. We analyze the problem of the action execution by robots and present a way to solve navigation problems through the use of reinforcement learning and deep learning algorithms. This method made it possible to synthesize sets of atomic sub-actions for correcting the state of the robotic platform at each moment of time. We conducted a set of experiments in single and multiagent settings. The synthesis of sub-actions of several tasks formed a training set for the RL model, which was tested on a test example. All considered tasks consisted of moving robotic platforms across a map with obstacles and manipulating environmental objects.
Citations by journals
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1
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Lecture Notes in Networks and Systems
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Lecture Notes in Networks and Systems
1 publication, 50%
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Lecture Notes in Computer Science
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Lecture Notes in Computer Science
1 publication, 50%
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1
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Citations by publishers
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1
2
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Springer Nature
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Springer Nature
2 publications, 100%
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1
2
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Kiselev G., Panov A. Q-Learning of Spatial Actions for Hierarchical Planner of Cognitive Agents // Lecture Notes in Computer Science. 2020. Vol. 12336 LNAI. pp. 160-169.
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Kiselev G., Panov A. Q-Learning of Spatial Actions for Hierarchical Planner of Cognitive Agents // Lecture Notes in Computer Science. 2020. Vol. 12336 LNAI. pp. 160-169.
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TY - GENERIC
DO - 10.1007/978-3-030-60337-3_16
UR - https://doi.org/10.1007%2F978-3-030-60337-3_16
TI - Q-Learning of Spatial Actions for Hierarchical Planner of Cognitive Agents
T2 - Lecture Notes in Computer Science
AU - Kiselev, Gleb
AU - Panov, Aleksandr
PY - 2020
DA - 2020/09/29 00:00:00
PB - Springer Nature
SP - 160-169
VL - 12336 LNAI
SN - 0302-9743
SN - 1611-3349
SN - 1861-2075
SN - 1861-2083
ER -
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@incollection{2020_Kiselev,
author = {Gleb Kiselev and Aleksandr Panov},
title = {Q-Learning of Spatial Actions for Hierarchical Planner of Cognitive Agents},
publisher = {Springer Nature},
year = {2020},
volume = {12336 LNAI},
pages = {160--169},
month = {sep}
}
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