Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Active collaboration in relative observation for Multi-agent visual SLAM
  based on Deep Q Network   This paper proposes a unique active relative localization mechanism for
multi-agent Simultaneous Localization and Mapping(SLAM),in which a agent to be
observed are considered as a task, which is performed by others assisting that
agent by relative observation. A task allocation algorithm based on deep
reinforcement learning are proposed for this mechanism. Each agent can choose
whether to localize other agents or to continue independent SLAM on it own
initiative. By this way, the process of each agent SLAM will be interacted by
the collaboration. Firstly, based on the characteristics of ORBSLAM, a unique
observation function which models the whole MAS is obtained. Secondly, a novel
type of Deep Q network(DQN) called MAS-DQN is deployed to learn correspondence
between Q Value and state-action pair,abstract representation of agents in MAS
are learned in the process of collaboration among agents. Finally, each agent
must act with a certain degree of freedom according to MAS-DQN. The simulation
results of comparative experiments prove that this mechanism improves the
efficiency of cooperation in the process of multi-agent SLAM.

10
The categories of this paper are: q-bio
19
The categories of this paper are: eess
27
The categories of this paper are: comp-gas
24
The categories of this paper are: dg-ga
17
The categories of this paper are: q-fin
26
The categories of this paper are: bayes-an
2
The categories of this paper are: math
34
The categories of this paper are: chem-ph
29
The categories of this paper are: funct-an
32
The categories of this paper are: atom-ph
23
The categories of this paper are: solv-int
31
The categories of this paper are: ao-sci
11
The categories of this paper are: hep-lat
21
The categories of this paper are: adap-org
5
The categories of this paper are: gr-qc
12
The categories of this paper are: nucl-th