Decentralized Reinforcement Learning for Multi-Target Search and Detection by a Team of Drones

• URL: http://arxiv.org/abs/2103.09520v1
• Date: Wed, 17 Mar 2021 09:04:47 GMT
• Title: Decentralized Reinforcement Learning for Multi-Target Search and Detection by a Team of Drones
• Authors: Roi Yehoshua, Juan Heredia-Juesas, Yushu Wu, Christopher Amato, Jose Martinez-Lorenzo
• Abstract summary: Targets search and detection encompasses a variety of decision problems such as coverage, surveillance, search, observing and pursuit-evasion. We develop a multi-agent deep reinforcement learning (MADRL) method to coordinate a group of aerial vehicles (drones) for the purpose of locating a set of static targets in an unknown area.
• Score: 12.055303570215335
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Targets search and detection encompasses a variety of decision problems such as coverage, surveillance, search, observing and pursuit-evasion along with others. In this paper we develop a multi-agent deep reinforcement learning (MADRL) method to coordinate a group of aerial vehicles (drones) for the purpose of locating a set of static targets in an unknown area. To that end, we have designed a realistic drone simulator that replicates the dynamics and perturbations of a real experiment, including statistical inferences taken from experimental data for its modeling. Our reinforcement learning method, which utilized this simulator for training, was able to find near-optimal policies for the drones. In contrast to other state-of-the-art MADRL methods, our method is fully decentralized during both learning and execution, can handle high-dimensional and continuous observation spaces, and does not require tuning of additional hyperparameters.

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