AbstractG. Sartoretti, Y. Wu, W. Paivine, S. Kumar, S. Koenig and H. Choset. Distributed Reinforcement Learning for Multi-Robot Decentralized Collective Construction. In Proceedings of the International Symposium on Distributed Autonomous Robotics Systems (DARS), pages (in print), 2018.
Abstract: Inspired by recent advances in single agent reinforcement learning, this paper extends the single-agent asynchronous advantage actor-critic (A3C) algorithm to enable multiple agents to learn a homogeneous, distributed policy, where agents work together toward a common goal without explicitly interacting. Our approach relies on centralized policy and critic learning, but decentralized policy execution, in a fully-observable system. We show that the sum of experience of all agents can be leveraged to quickly train a collaborative policy that naturally scales to smaller and larger swarms. We demonstrate the applicability of our method on a multi-robot construction problem, where agents need to arrange simple block elements to build a user-specified structure. We present simulation results where swarms of various sizes successfully construct different test structures without the need for additional training.
Download the paper in pdf.
Many publishers do not want authors to make their papers available electronically after the papers have been published. Please use the electronic versions provided here only if hardcopies are not yet available. If you have comments on any of these papers, please send me an email! Also, please send me your papers if we have common interests.
This page was automatically created by a bibliography maintenance system that was developed as part of an undergraduate research project, advised by Sven Koenig.