A reinforcement learning algorithm in cooperative multi-robot domains

Reinforcement learning has been widely applied to solve a diverse set of learning tasks, from board games to robot behaviours. In some of them, results have been very successful, but some tasks present several characteristics that make the application of reinforcement learning harder to define. One of these areas is multi-robot learning, which has two important problems. The first is credit assignment, or how to define the reinforcement signal to each robot belonging to a cooperative team depending on the results achieved by the whole team. The second one is working with large domains, where the amount of data can be large and different in each moment of a learning step. This paper studies both issues in a multi-robot environment, showing that introducing domain knowledge and machine learning algorithms can be combined to achieve successful cooperative behaviours.This work has been partially funded by grants This work has been partially funded by grants from Spanish Science and Technology Department number TAP1999-0535-C02-02, and TIC2002-04146-C05-05.Publicad