Details
| Original language | English |
|---|---|
| Title of host publication | 2023 62nd IEEE Conference on Decision and Control, CDC 2023 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 2358-2365 |
| Number of pages | 8 |
| ISBN (electronic) | 9798350301243 |
| Publication status | Published - 2023 |
| Externally published | Yes |
| Event | 62nd IEEE Conference on Decision and Control, CDC 2023 - Singapore, Singapore Duration: 13 Dec 2023 → 15 Dec 2023 |
Publication series
| Name | Proceedings of the IEEE Conference on Decision and Control |
|---|---|
| ISSN (Print) | 0743-1546 |
| ISSN (electronic) | 2576-2370 |
Abstract
Learning input signals that make a dynamic system respond with a desired output is often data intensive and time consuming. It is therefore natural to ask whether, in a heterogeneous multi-agent scenario, an input signal learned by one agent can be suitably adapted and transferred to make the other agents respond with the same desired output, despite exhibiting different dynamics. In this paper, we propose a novel method to achieve this by employing a dynamic input transfer map. The method does not require any a-priori knowledge of the individual agents' dynamics. Instead, a small amount of experimental data from the source and target systems are used to estimate the transfer map. We evaluate the proposed method and compare it to existing approaches using static input transfer maps by investigating two example scenarios: (i) a simulation scenario for muscle dynamics, (ii) an experimental setting with a group of two-wheeled inverted pendulum robots and a sim-to-real motion learning problem.
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Mathematics(all)
- Modelling and Simulation
- Mathematics(all)
- Control and Optimization
Cite this
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2023 62nd IEEE Conference on Decision and Control, CDC 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 2358-2365 (Proceedings of the IEEE Conference on Decision and Control).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Data-Driven Dynamic Input Transfer for Learning Control in Multi-Agent Systems with Heterogeneous Unknown Dynamics
AU - Lehmann, Dustin
AU - Drebinger, Philipp
AU - Seel, Thomas
AU - Raisch, Jörg
N1 - Publisher Copyright: © 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Learning input signals that make a dynamic system respond with a desired output is often data intensive and time consuming. It is therefore natural to ask whether, in a heterogeneous multi-agent scenario, an input signal learned by one agent can be suitably adapted and transferred to make the other agents respond with the same desired output, despite exhibiting different dynamics. In this paper, we propose a novel method to achieve this by employing a dynamic input transfer map. The method does not require any a-priori knowledge of the individual agents' dynamics. Instead, a small amount of experimental data from the source and target systems are used to estimate the transfer map. We evaluate the proposed method and compare it to existing approaches using static input transfer maps by investigating two example scenarios: (i) a simulation scenario for muscle dynamics, (ii) an experimental setting with a group of two-wheeled inverted pendulum robots and a sim-to-real motion learning problem.
AB - Learning input signals that make a dynamic system respond with a desired output is often data intensive and time consuming. It is therefore natural to ask whether, in a heterogeneous multi-agent scenario, an input signal learned by one agent can be suitably adapted and transferred to make the other agents respond with the same desired output, despite exhibiting different dynamics. In this paper, we propose a novel method to achieve this by employing a dynamic input transfer map. The method does not require any a-priori knowledge of the individual agents' dynamics. Instead, a small amount of experimental data from the source and target systems are used to estimate the transfer map. We evaluate the proposed method and compare it to existing approaches using static input transfer maps by investigating two example scenarios: (i) a simulation scenario for muscle dynamics, (ii) an experimental setting with a group of two-wheeled inverted pendulum robots and a sim-to-real motion learning problem.
UR - http://www.scopus.com/inward/record.url?scp=85184804007&partnerID=8YFLogxK
U2 - 10.1109/cdc49753.2023.10383433
DO - 10.1109/cdc49753.2023.10383433
M3 - Conference contribution
AN - SCOPUS:85184804007
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 2358
EP - 2365
BT - 2023 62nd IEEE Conference on Decision and Control, CDC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 62nd IEEE Conference on Decision and Control, CDC 2023
Y2 - 13 December 2023 through 15 December 2023
ER -