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=Volume 2 - 2021

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. Different from the previous studies, this paper aims at addressing a pursuit problem in which only some pursuers can directly access the evader's position. In addition, a hierarchical Q($\lambda$)-learning with improved reward is proposed, and the simulation results show that the proposed method outperforms Q-learning.