Teaching collaborative multi-robot tasks through demonstration


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    		Views: (2001)   Date: (Publication Date: 1-3 Dec. 200...)   Pages: ()

  • Author:  Chernova  S. Veloso  M. Comput. Sci. Dept.  Carnegie Mellon Univ.  Pittsburgh  PA;  

  • Abstract:  Abstract Humanoid robots working alongside humans in everyday environments is a long standing goal of the robotics community. To achieve this goal, methods for developing new robot behaviors that are intuitive and accessible to non-programmers are required. In this paper, we present a demonstration-based method for teaching distributed autonomous robots to coordinate their actions and perform collaborative multi-robot tasks. Within the presented framework, each robot learns an individual policy from teacher demonstrations using a confidence-based algorithm. Based on this learning approach, we contribute three techniques for teaching multi-robot coordination using different information sharing strategies. We evaluate and compare these approaches by teaching two Sony QRIO humanoid robots to perform three collaborative ball sorting tasks.

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