Proceedings of the 8th Scientific Conference on Information Technologies for Intelligent Decision Making Support (ITIDS 2020)

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Method for Reconfiguring the Kinematic Structure of a Mechatronic-Modular Robot in Non-Deterministic Conditions

Authors
Vyacheslav Petrenko, Mikhail Gurchinsky, Fariza Tebueva, Andrey Pavlov
Corresponding Author
Fariza Tebueva
Available Online 10 November 2020.
DOI
10.2991/aisr.k.201029.065How to use a DOI?
Keywords
modular robotic, reinforcement learning, path planning, multi-agent systems, Q-learning
Abstract

Modular robots, consisting of many identical modules, are one of the most difficult areas of robotics. Each newly added element changes the shape and capabilities of the end device, for example, adds functionality or allows the robot to move in new planes. The reconfiguration of the kinematic structure is a sequence of movements of each robot module from the initial position of the initial configuration to the final position of the desired configuration. The paper considers a method for reconfiguration the kinematic structure of a mechatronic-modular robot using reinforcement learning. The proposed method will be built on the basis of a learning algorithm, where the information for training will be the actions taken and the “reward” is a value characterizing the quality of the robot’s completion of the target task. The purpose of the training is to build a control algorithm that maximizes the total reward for a certain period of time. The effectiveness of the learning algorithm was tested by computer simulation of a robot, consisting of 5, 10 and 15 modules, in the formation of the target configuration.

Copyright
© 2020, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
Proceedings of the 8th Scientific Conference on Information Technologies for Intelligent Decision Making Support (ITIDS 2020)
Series
Advances in Intelligent Systems Research
Publication Date
10 November 2020
ISBN
10.2991/aisr.k.201029.065
ISSN
1951-6851
DOI
10.2991/aisr.k.201029.065How to use a DOI?
Copyright
© 2020, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

risenwbib
TY  - CONF
AU  - Vyacheslav Petrenko
AU  - Mikhail Gurchinsky
AU  - Fariza Tebueva
AU  - Andrey Pavlov
PY  - 2020
DA  - 2020/11/10
TI  - Method for Reconfiguring the Kinematic Structure of a Mechatronic-Modular Robot in Non-Deterministic Conditions
BT  - Proceedings of the 8th Scientific Conference on Information Technologies for Intelligent Decision Making Support (ITIDS 2020)
PB  - Atlantis Press
SP  - 347
EP  - 352
SN  - 1951-6851
UR  - https://doi.org/10.2991/aisr.k.201029.065
DO  - 10.2991/aisr.k.201029.065
ID  - Petrenko2020
ER  -