Efficient Domain Coverage for Vehicles with Second-Order Dynamics via Multi-Agent Reinforcement Learning

• URL: http://arxiv.org/abs/2211.05952v4
• Date: Mon, 16 Oct 2023 09:13:07 GMT
• Title: Efficient Domain Coverage for Vehicles with Second-Order Dynamics via Multi-Agent Reinforcement Learning
• Authors: Xinyu Zhao, Razvan C. Fetecau, Mo Chen
• Abstract summary: We present a reinforcement learning (RL) approach for the multi-agent efficient domain coverage problem involving agents with second-order dynamics. Our proposed network architecture includes the incorporation of LSTM and self-attention, which allows the trained policy to adapt to a variable number of agents.
• Score: 9.939081691797858
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Collaborative autonomous multi-agent systems covering a specified area have many potential applications, such as UAV search and rescue, forest fire fighting, and real-time high-resolution monitoring. Traditional approaches for such coverage problems involve designing a model-based control policy based on sensor data. However, designing model-based controllers is challenging, and the state-of-the-art classical control policy still exhibits a large degree of sub-optimality. In this paper, we present a reinforcement learning (RL) approach for the multi-agent efficient domain coverage problem involving agents with second-order dynamics. Our approach is based on the Multi-Agent Proximal Policy Optimization Algorithm (MAPPO). Our proposed network architecture includes the incorporation of LSTM and self-attention, which allows the trained policy to adapt to a variable number of agents. Our trained policy significantly outperforms the state-of-the-art classical control policy. We demonstrate our proposed method in a variety of simulated experiments.

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