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  • Tackling Credit Assignment Using Memory and Multilevel Optimization for Multiagent Reinforcement Learning

    Creator:
    Khadka, Shauharda
    Abstract:
    There is growing commercial interest in the use of multiagent systems in real world applications. Some examples include inventory management in warehouses, smart homes, planetary exploration, search and rescue, air-traffic management and autonomous transportation systems. However, multiagent coordination is an extremely challenging problem. First, information relevant for coordination is often...
    Resource Type:
    Dissertation
    Full Text:
    nonlinear activation functions. Goodfellow [73] expressed this in 17 terms of credit assignment path

  • Multi-Objective Optimization in Multiagent Systems

    Creator:
    Yliniemi, Logan Michael
    Abstract:
    Cooperative multiagent systems are used as solution concepts in many application domains including air traffic control, satellite communications, and extra planetary exploration. As systems become more distributed and complex, we observe three phenomena. First, these systems cannot be accurately modeled, rendering traditional model based control methods inadequate. Second, system parameters...
    Resource Type:
    Dissertation
    Full Text:
    in a nonlinear manner, making it difficult for humans to develop heuristic based control policies

  • Multiagent learning for locomotion and coordination in tensegrity robotics

    Creator:
    Iscen, Atil
    Abstract:
    Tensegrity structures are composed of pure compressional elements that are connected via a network of pure tensional elements. The concept of tensegrity promises numerous advantages to the field of robotics. Tensegrity robots are, however, notoriously difficult to control due to their oscillatory nature and nonlinear interaction between the components. Multiagent...
    Resource Type:
    Dissertation
    Full Text:
    propagates in a nonlinear way through the entire tensegrity, causing shape changes, which further change

  • Optimizing ballast design of wave energy converters using evolutionary algorithms

    Creator:
    Colby, Mitchell
    Abstract:
    Wave Energy Converters (WECs) promise to be a viable alternative to current electrical generation methods. However, these WECs must become more efficient before wide-scale industrial use can become cost-effective. The efficiency of a WEC is primarily dependent upon its geometry and ballast configuration which are both difficult to evaluate, due...
    Resource Type:
    Masters Thesis
    Full Text:
    nonlinear partial differential equations which cannot be solved analyti- cally. In order to judge the

  • D₊₊ : Structural Credit Assignment in Tightly Coupled Multiagent Domains

    Creator:
    Rahmattalabi, Aida
    Abstract:
    Autonomous multiagent teams can be used in complex exploration tasks to both expedite the exploration and improve the efficiency. However, use of multiagent systems presents additional challenges. Specifically, in domains where the agents' actions are tightly coupled, coordinating multiple agents to achieve cooperative behavior at the group level is difficult....
    Resource Type:
    Masters Thesis
    Full Text:
    degree of Master of Science in Robotics presented on August 2, 2016. Title: D++: Structural Credit

  • CLEAN learning to improve coordination and scalability in multiagent systems

    Creator:
    HolmesParker, Chris
    Abstract:
    Recent advances in multiagent learning have led to exciting new capabilities spanning fields as diverse as planetary exploration, air traffic control, military reconnaissance, and airport security. Such algorithms provide a tangible benefit over traditional control algorithms in that they allow fast responses, adapt to dynamic environments, and generally scale well....
    Resource Type:
    Dissertation
    Full Text:
    Scalability in Multiagent Systems AN ABSTRACT OF THE DISSERTATION OF Chris HolmesParker for the degree

  • Learning-based control and coordination of autonomous UAVs

    Creator:
    Bell, Adam R.
    Abstract:
    Uninhabited aerial vehicles, also called UAVs are currently controller by a combination of a human pilot at a remote location, and autopilot systems similar to those found on commercial aircraft. As UAVs transition from remote piloting to fully autonomous operation, control laws must be developed for the tasks to be...
    Resource Type:
    Masters Thesis
    Full Text:
    found. A common example of such an approximation is the linearization of nonlinear terms in equations

  • Learning in Complex Domains : Leveraging Multiple Rewards through Alignment

    Creator:
    Klinkhammer, Eric R.
    Abstract:
    In this thesis, we introduce alignment-based algorithms for improving the performance of reinforcement learning solutions for problems where the reward signal cannot be collapsed into a single number. Many real world problems require an agent to balance performance, longevity, and safety, and do so across different timelines. The key to...
    Resource Type:
    Masters Thesis
    Full Text:
    nonlinear scalarization function that is also a function of the state and time. In other words, the

  • Multi-Reward Learning and Sparse Rewards

    Creator:
    Christopher, Reid M.
    Abstract:
    Reinforcement learning has made impressive strides in solving problems in challenging domains, but problems are increasingly being described with sparse rewards. Sparse rewards directly reduce the rate at which useful feedback is provided to the learner and make it difficult to distinguish between what specific actions led to the reception...
    Resource Type:
    Capstone Project
    Full Text:
    generalizable success [46]. Nonlinear scalarization is effectively heuristic in 7 nature, requiring good

  • Counterfactual thinking applied to multiagent systems

    Creator:
    Zerbel, Nicholas
    Abstract:
    Multiagent approaches are well suited to designing autonomous solutions for systems that feature complex interactions between many individuals such as in autonomous traffic systems and multi-robot exploration systems. However, creating autonomous agents that function effectively in these systems is a challenging task. In these complex environments, agents need informative reward...
    Resource Type:
    Dissertation
    Full Text:
    Zerbel for the degree of Doctor of Philosophy in Robotics presented on June 12, 2023. Title