| Autor: |
Kamalapurkar, Rushikesh, Klotz, Justin R., Walters, Patrick, Dixon, Warren E. |
| Rok vydání: |
2017 |
| Předmět: |
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| Druh dokumentu: |
Working Paper |
| DOI: |
10.1109/TCNS.2016.2617622 |
| Popis: |
This paper seeks to combine differential game theory with the actor-critic-identifier architecture to determine forward-in-time, approximate optimal controllers for formation tracking in multi-agent systems, where the agents have uncertain heterogeneous nonlinear dynamics. A continuous control strategy is proposed, using communication feedback from extended neighbors on a communication topology that has a spanning tree. A model-based reinforcement learning technique is developed to cooperatively control a group of agents to track a trajectory in a desired formation. Simulation results are presented to demonstrate the performance of the developed technique. |
| Databáze: |
arXiv |
| Externí odkaz: |
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