Intellectual Development Model for Multi-Robot Systems

Abstract

We propose the IDeM-MRS learning formalism to be used by a group of robots for solving practical tasks in indoor environments. The formalism is inspired on the theory of social learning models for human beings that is traditionally developed in Psychology and Education fields. Our model can be used for coordination of the group, as for, allowing assimilation and accommodation of knowledge through experience exchange. Besides explaining the theoretical model itself, we formalize the mathematics involved with it in a very simple and straightforward fashion. Some issues are especially investigated such as the realistic representation of the multi-robot environment involving the global mission, the tasks belonging to the mission and the active set of robots. A way for task selection is proposed based on social learning theories and approaches that allow cooperative and efficient execution of tasks by robots. To this end, IDeM-MRS can be used in different types of missions varying from simple to complex. Experiments and results validate the efficiency of the formalism compared to a traditional empirical model.

Online Learning and Teaching of Emergent Behaviors in Multi-Robot Teams

“…Some known theorists are Piaget [16] and Vygotsky [17]. Maia and Gonçalves [18] made a connection between these theories and the multirobot systems (MRS) and multi-agent systems (MAS). Their approach was interesting for the N-Learning [4] and is also for our work, and we use here part of what was formalized by them.…”

“…Their approach was interesting for the N-Learning [4] and is also for our work, and we use here part of what was formalized by them. Among the important concepts that Maia and Gonçalves [18] addressed in their work, we can cite the Proximal Development Zone (ZPD), the Level of Real Development (LRD) and the Level of Potential Development (LPD). The LRD is the knowledge that an individual already possesses, it is his ability to solve problems.…”

“…ZPD is the knowledge that an individual can learn. In the direct application of these concepts onto robotics, LRD is the ability to solve a problem with the knowledge itself autonomously [18]. LPD is the difference between the ability to perform a task autonomously and the ability to perform it.…”

“…ZPD is what the agent can perform. Maia and Gonçalves [18] also presented the mathematical formulation of these concepts in their work. Starting from the theory of Piaget [16], they explain the assimilation and accommodation in robotics.…”

“…Assimilation as the acquisition of knowledge in a database, and accommodation as the development of a previously known task. Based on the mathematical formulation of these theories, Maia and Gonçalves [18] created the Intellectual Development Model for Multi-Robot Systems formalism (IDeM-MRS). In it are contained all the representations of robots, the environment, social theories, as well as their connections with an MRS.…”