Please use this identifier to cite or link to this item:
http://arks.princeton.edu/ark:/88435/dsp01ns0649150
Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | Leonard, Naomi | - |
dc.contributor.author | Sadalgekar, Gargi | - |
dc.contributor.author | Wilson, Samarie | - |
dc.contributor.author | Walrath, Jacob | - |
dc.date.accessioned | 2021-08-18T17:09:30Z | - |
dc.date.available | 2021-08-18T17:09:30Z | - |
dc.date.created | 2021-04-28 | - |
dc.date.issued | 2021-08-18 | - |
dc.identifier.uri | http://arks.princeton.edu/ark:/88435/dsp01ns0649150 | - |
dc.description.abstract | We investigate several methods of explore-exploit decision making for the application of trash collection. To do this, we explore the optimization of the multi-agent Multi-Armed Bandit (MAMAB) problem using the UCB1 algorithm. We consider cases of inter-agent message passing and no message passing, as well as several re-ward distributions. We show that for fixed initial and constant rate addition reward distributions, performance improves as the degree of communication increases. We also show that beyond a certain degree of communication, there is negligible improvement in system performance. We develop a novel simulator for MAMAB problems to verify our theoretical results. We demonstrate that our adaptation of UCB1 achieves cumulative regret logarithmically with time, and is a valid approach to the trash collection problem. | en_US |
dc.format.mimetype | application/pdf | |
dc.language.iso | en | en_US |
dc.title | Decision Making and Task Allocation in a Multi-Robot System | en_US |
dc.type | Princeton University Senior Theses | |
pu.date.classyear | 2021 | en_US |
pu.department | Mechanical and Aerospace Engineering | en_US |
pu.pdf.coverpage | SeniorThesisCoverPage | |
pu.contributor.authorid | 920153112 | |
pu.certificate | Robotics & Intelligent Systems Program | en_US |
pu.mudd.walkin | No | en_US |
Appears in Collections: | Mechanical and Aerospace Engineering, 1924-2023 |
Files in This Item:
File | Description | Size | Format | |
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SADALGEKAR-GARGI-THESIS.pdf | 3.17 MB | Adobe PDF | Request a copy |
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