Leader-Following Multi-Agent Coordination Control Accompanied With Hierarchical Q(λ)-Learning for Pursuit

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.