Cooperative and Asynchronous Transformer-based Mission Planning for Heterogeneous Teams of Mobile Robots

• URL: http://arxiv.org/abs/2410.06372v2
• Date: Tue, 14 Jan 2025 22:43:44 GMT
• Title: Cooperative and Asynchronous Transformer-based Mission Planning for Heterogeneous Teams of Mobile Robots
• Authors: Milad Farjadnasab, Shahin Sirouspour,
• Abstract summary: We propose a Cooperative and Asynchronous Transformer-based Mission Planning (CATMiP) framework to coordinate distributed decision making among agents.<n>We evaluate CATMiP in a 2D grid-world simulation environment and compare its performance against planning-based exploration methods.
• Score: 1.1049608786515839
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Cooperative mission planning for heterogeneous teams of mobile robots presents a unique set of challenges, particularly when operating under communication constraints and limited computational resources. To address these challenges, we propose the Cooperative and Asynchronous Transformer-based Mission Planning (CATMiP) framework, which leverages multi-agent reinforcement learning (MARL) to coordinate distributed decision making among agents with diverse sensing, motion, and actuation capabilities, operating under sporadic ad hoc communication. A Class-based Macro-Action Decentralized Partially Observable Markov Decision Process (CMacDec-POMDP) is also formulated to effectively model asynchronous decision-making for heterogeneous teams of agents. The framework utilizes an asynchronous centralized training and distributed execution scheme that is developed based on the Multi-Agent Transformer (MAT) architecture. This design allows a single trained model to generalize to larger environments and accommodate varying team sizes and compositions. We evaluate CATMiP in a 2D grid-world simulation environment and compare its performance against planning-based exploration methods. Results demonstrate CATMiP's superior efficiency, scalability, and robustness to communication dropouts, highlighting its potential for real-world heterogeneous mobile robot systems. The code is available at https://github.com/mylad13/CATMiP.

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