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Teaching multi-robot coordination using demonstration of communication and state sharing

Authors:

Sonia Chernova,

Manuela VelosoAuthors Info & Claims

AAMAS '08: Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 3

Pages 1183 - 1186

Published: 12 May 2008 Publication History

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Abstract

Solutions to complex tasks often require the cooperation of multiple robots, however, developing multi-robot policies can present many challenges. In this work, we introduce teaching by demonstration in the context of multi-robot tasks, enabling a single teacher to instruct multiple robots to work together through a demonstration of the desired behavior. Within this framework, we contribute two approaches for teaching coordination based on different communication and information sharing strategies. To enable the teacher to divide attention between multiple robots, each robot uses a confidence-based algorithm that allows it to regulate its autonomy and determine the need for demonstration. Evaluation is performed using two Sony QRIO robots learning a real-world collaborative ball sorting task.

References

[1]

S. Chernova and M. Veloso. Confidence-based policy learning from demonstration using gaussian mixture models. In Proceedings of Autonomous Agents and Multiagent Systems, May 2007.

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D. Grollman and O. Jenkins. Dogged learning for robots. In IEEE International Conference on Robotics and Automation, pages 2483--2488, 2007.

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T. Ishida. Development of a small biped entertainment robot QRIO. In Micro-Nanomechatronics and Human Science, 2004, pages 23--28, 2004.

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M. N. Nicolescu and M. J. Mataric. Natural methods for robot task learning: instructive demonstrations, generalization and practice. In Proceedings of Autonomous Agents and Multiagent Systems, pages 241--248. ACM Press, 2003.

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[5]

A. L. Thomaz. Socially Guided Machine Learning. PhD thesis, Massachusetts Institute of Technology, 2006.

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Cited By

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Nikolaidis SNath SProcaccia ASrinivasa SMutlu BTscheligi MWeiss AYoung J(2017)Game-Theoretic Modeling of Human Adaptation in Human-Robot CollaborationProceedings of the 2017 ACM/IEEE International Conference on Human-Robot Interaction10.1145/2909824.3020253(323-331)Online publication date: 6-Mar-2017
https://dl.acm.org/doi/10.1145/2909824.3020253
Nikolaidis SLasota PRamakrishnan RShah J(2015)Improved human–robot team performance through cross-training, an approach inspired by human team training practicesInternational Journal of Robotics Research10.1177/027836491560967334:14(1711-1730)Online publication date: 1-Dec-2015
https://dl.acm.org/doi/10.1177/0278364915609673
Nikolaidis SRamakrishnan RGu KShah JAdams JSmart WMutlu BTakayama L(2015)Efficient Model Learning from Joint-Action Demonstrations for Human-Robot Collaborative TasksProceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction10.1145/2696454.2696455(189-196)Online publication date: 2-Mar-2015
https://dl.acm.org/doi/10.1145/2696454.2696455
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Index Terms

Teaching multi-robot coordination using demonstration of communication and state sharing
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
2. Computing methodologies
  1. Artificial intelligence
    1. Control methods
      1. Robotic planning
    2. Planning and scheduling
      1. Robotic planning

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AAMAS '08: Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 3

May 2008

503 pages

ISBN:9780981738123

Publisher

International Foundation for Autonomous Agents and Multiagent Systems

Richland, SC

Publication History

Published: 12 May 2008

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learning from demonstration

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ACM
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AAMAS08: 7th International Conference on Autonomous Agents and Multi Agent Systems

May 12 - 16, 2008

Estoril, Portugal

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Overall Acceptance Rate 1,155 of 5,036 submissions, 23%

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Nikolaidis SNath SProcaccia ASrinivasa SMutlu BTscheligi MWeiss AYoung J(2017)Game-Theoretic Modeling of Human Adaptation in Human-Robot CollaborationProceedings of the 2017 ACM/IEEE International Conference on Human-Robot Interaction10.1145/2909824.3020253(323-331)Online publication date: 6-Mar-2017
https://dl.acm.org/doi/10.1145/2909824.3020253
Nikolaidis SLasota PRamakrishnan RShah J(2015)Improved human–robot team performance through cross-training, an approach inspired by human team training practicesInternational Journal of Robotics Research10.1177/027836491560967334:14(1711-1730)Online publication date: 1-Dec-2015
https://dl.acm.org/doi/10.1177/0278364915609673
Nikolaidis SRamakrishnan RGu KShah JAdams JSmart WMutlu BTakayama L(2015)Efficient Model Learning from Joint-Action Demonstrations for Human-Robot Collaborative TasksProceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction10.1145/2696454.2696455(189-196)Online publication date: 2-Mar-2015
https://dl.acm.org/doi/10.1145/2696454.2696455
Bogert KDoshi PBazzan AHuhns MLomuscio AScerri P(2014)Multi-robot inverse reinforcement learning under occlusion with interactionsProceedings of the 2014 international conference on Autonomous agents and multi-agent systems10.5555/2615731.2615762(173-180)Online publication date: 5-May-2014
https://dl.acm.org/doi/10.5555/2615731.2615762
Johnson CGonzalez A(2014)Learning collaborative team behavior from observationExpert Systems with Applications: An International Journal10.1016/j.eswa.2013.09.02941:5(2316-2328)Online publication date: 1-Apr-2014
https://dl.acm.org/doi/10.1016/j.eswa.2013.09.029
Nikolaidis SShah JKuzuoka HEvers VImai MForlizzi J(2013)Human-robot cross-trainingProceedings of the 8th ACM/IEEE international conference on Human-robot interaction10.5555/2447556.2447563(33-40)Online publication date: 3-Mar-2013
https://dl.acm.org/doi/10.5555/2447556.2447563
Martins MDemiris YLuck MSen S(2010)Learning multirobot joint action plans from simultaneous task execution demonstrationsProceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 110.5555/1838206.1838331(931-938)Online publication date: 10-May-2010
https://dl.acm.org/doi/10.5555/1838206.1838331
Thomaz ACakmak MScheutz MMichaud FHinds PScassellati B(2009)Learning about objects with human teachersProceedings of the 4th ACM/IEEE international conference on Human robot interaction10.1145/1514095.1514101(15-22)Online publication date: 9-Mar-2009
https://dl.acm.org/doi/10.1145/1514095.1514101

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Learning from Demonstration for Autonomous Navigation in Complex Unstructured Terrain

Human-like coordination motion learning for a redundant dual-arm robot

Learning from Demonstration Facilitates Human-Robot Collaborative Task Execution

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Learning from Demonstration for Autonomous Navigation in Complex Unstructured Terrain

Human-like coordination motion learning for a redundant dual-arm robot

Learning from Demonstration Facilitates Human-Robot Collaborative Task Execution

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