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We are considering a scenario where a team of bodyguard robots providesphysical protection to a VIP in a crowded public space. We use deepreinforcement learning to learn the policy to be followed by the robots. As therobot bodyguards need to follow several difficult-to-reconcile goals, we studyseveral primitive and composite reward functions and their impact on theoverall behavior of the robotic bodyguards.

Designing a Multi-Objective Reward Function for Creating Teams of Robotic Bodyguards Using Deep Reinforcement Learning