Abstract:We show how a distributed flocking controller can be synthesized using deep learning from a centralized controller which generates the trajectories of the flock. Our approach is based on supervised learning, with the centralized controller providing the training data to the learning agent, i.e., the synthesized distributed controller. We use Model Predictive Control (MPC) for the centralized controller, an approach that has been successfully demonstrated on flocking problems. MPCbased flocking controllers are … Show more
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