Abstract: This paper presents the novel Rao-Blackwellised
particle filter (RBPF) for mobile robot simultaneous localization and
mapping (SLAM) using monocular vision. The particle filter is
combined with unscented Kalman filter (UKF) to extending the path
posterior by sampling new poses that integrate the current observation
which drastically reduces the uncertainty about the robot pose. The
landmark position estimation and update is also implemented through
UKF. Furthermore, the number of resampling steps is determined
adaptively, which seriously reduces the particle depletion problem,
and introducing the evolution strategies (ES) for avoiding particle
impoverishment. The 3D natural point landmarks are structured with
matching Scale Invariant Feature Transform (SIFT) feature pairs. The
matching for multi-dimension SIFT features is implemented with a
KD-Tree in the time cost of O(log2
N). Experiment results on real robot
in our indoor environment show the advantages of our methods over
previous approaches.
Abstract: How to coordinate the behaviors of the agents through
learning is a challenging problem within multi-agent domains.
Because of its complexity, recent work has focused on how
coordinated strategies can be learned. Here we are interested in using
reinforcement learning techniques to learn the coordinated actions of a
group of agents, without requiring explicit communication among
them. However, traditional reinforcement learning methods are based
on the assumption that the environment can be modeled as Markov
Decision Process, which usually cannot be satisfied when multiple
agents coexist in the same environment. Moreover, to effectively
coordinate each agent-s behavior so as to achieve the goal, it-s
necessary to augment the state of each agent with the information
about other existing agents. Whereas, as the number of agents in a
multiagent environment increases, the state space of each agent grows
exponentially, which will cause the combinational explosion problem.
Profit sharing is one of the reinforcement learning methods that allow
agents to learn effective behaviors from their experiences even within
non-Markovian environments. In this paper, to remedy the drawback
of the original profit sharing approach that needs much memory to
store each state-action pair during the learning process, we firstly
address a kind of on-line rational profit sharing algorithm. Then, we
integrate the advantages of modular learning architecture with on-line
rational profit sharing algorithm, and propose a new modular
reinforcement learning model. The effectiveness of the technique is
demonstrated using the pursuit problem.