Hierarchical Reinforcement Learning Framework Towards Multi-Agent Navigation

@article{Ding2018HierarchicalRL,
  title={Hierarchical Reinforcement Learning Framework Towards Multi-Agent Navigation},
  author={Wenhao Ding and Shuaijun Li and Huihuan Qian},
  journal={2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
  year={2018},
  pages={237-242}
}
In this paper, we propose a navigation algorithm oriented to multi-agent environment. This algorithm is expressed as a hierarchical framework that contains a Hidden Markov Model (HMM) and a Deep Reinforcement Learning (DRL) structure. For simplification, we term our method Hierarchical Navigation Reinforcement Network (HNRN). In high-level architecture, we train an HMM to evaluate the agents perception to obtain a score. According to this score, adaptive control action will be chosen. While in… 

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