Behavioral Diversity in Learning Robot Teams
College of Computing
Georgia Institute of Technology
This work investigates the origins of behavioral diversity in learning
robot teams. Behavioral diversity refers to the extent to which agents
assume distinct behavioral roles in a group. Most research in
multi-robot teams to date has centered on homogeneous systems, with
work in heterogeneous groups focused primarily on mechanical and
sensor differences between agents. In contrast, this work examines
teams of mechanically identical robots. These systems are interesting
because they may be homogeneous or heterogeneous depending only on
behavior. Behavior is an extremely flexible dimension of
heterogeneity in learning teams because the agents converge to hetero-
or homogeneous solutions on their own. This research provides new
tools for the investigation of behavioral diversity in multi-robot
systems and a significant body of results using these tools in
simulated and real mobile robot experiments. The experiments
specifically investigate the relationship between the reinforcement
function used for training and the diversity and performance of the
resulting multi-robot teams.
- a methodology for building and evaluating
learning behavior-based robot teams,
- a taxonomy of multi-robot reinforcement functions,
- a classification of multi-robot tasks,
- a quantitative measure of behavioral diversity
in multi-robot teams,
- a quantitative measure of behavioral difference
between individual robots,
- evaluation procedures for multi-robot task performance,
- a significant body of experimental results illustrating
the use of these
tools in three multi-robot task domains.
An online Java applet that demonstrates the
calculation of social entropy (diversity) is available
The thesis is available in compressed postscript
online (see below).
Note: the thesis was formatted for double-sided printing.
It will print fine on a single-sided printer but the
margins will be a little different on odd and even pages.
Getting a hardcopy
My thesis is also available as a College of Computing Technical Report
(GIT-CC-98-25). You can request that one be sent to you by
sending e-mail to Linda Williams
Let me know if you run into any trouble getting a copy.