AUTHOR=Zhu Zhe-Yang , Liu Cheng-Lin TITLE=Leader-Following Multi-Agent Coordination Control Accompanied With Hierarchical Q(λ)-Learning for Pursuit JOURNAL=Frontiers in Control Engineering VOLUME=2 YEAR=2021 URL=https://www.frontiersin.org/journals/control-engineering/articles/10.3389/fcteg.2021.721475 DOI=10.3389/fcteg.2021.721475 ISSN=2673-6268 ABSTRACT=

In this paper, we investigate a pursuit problem with multi-pursuer and single evader in a two-dimensional grid space with obstacles. Taking a different approach to previous studies, this paper aims to address a pursuit problem in which only some pursuers can directly access the evader’s position. It also proposes using a hierarchical Q(λ)-learning with improved reward, with simulation results indicating that the proposed method outperforms Q-learning.