Cooperative Behavior of Multiple Robots by Chain of Monolithic Policies for Two Robots

Abstract

We propose a novel method for cooperative behavior of multiple robots. To control more than two robots, the proposed method utilizes multiple policies that are created for not more than two robots. By chaining those policies redundantly, we can approximate the optimum policy for all robots, which is never obtained due to the curse of dimensionality. In simulations and experiments on the domain of RoboCup four-legged league, we verify that the proposed method can realize effective cooperation of robots.