TY - GEN
T1 - Distributed safe reinforcement learning for multi-robot motion planning
AU - Lu, Yang
AU - Guo, Yaohua
AU - Zhao, Guoxiang
AU - Zhu, Minghui
N1 - Funding Information:
School of Electrical Engineering and Computer Science, Pennsylvania State University, University Park, PA 16802 (Email: {yml5046, gfz5014, muz16}@psu.edu); Y. Guo is with School of Aerospace Engineering, Xi’an Jiaotong University, Xi’an, China, 710049 (Email: gyhua123@xjtu.edu.cn). This work was partially supported by the grants NSF ECCS-1710859 and CNS 1830390.
Publisher Copyright:
© 2021 IEEE.
PY - 2021/6/22
Y1 - 2021/6/22
N2 - This paper studies optimal motion planning of multiple mobile robots with collision avoidance. We develop a distributed reinforcement learning algorithm which ensures suboptimal goal reaching and anytime collision avoidance simultaneously. Theoretical results on the convergence of neural network weights, the uniform and ultimate boundedness of system states of the closed-loop system, and anytime collision avoidance are established. Numerical simulations for single integrator and unicycle robots illustrate the effectiveness of our theoretical results.
AB - This paper studies optimal motion planning of multiple mobile robots with collision avoidance. We develop a distributed reinforcement learning algorithm which ensures suboptimal goal reaching and anytime collision avoidance simultaneously. Theoretical results on the convergence of neural network weights, the uniform and ultimate boundedness of system states of the closed-loop system, and anytime collision avoidance are established. Numerical simulations for single integrator and unicycle robots illustrate the effectiveness of our theoretical results.
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U2 - 10.1109/MED51440.2021.9480176
DO - 10.1109/MED51440.2021.9480176
M3 - Conference contribution
AN - SCOPUS:85113621077
T3 - 2021 29th Mediterranean Conference on Control and Automation, MED 2021
SP - 1209
EP - 1214
BT - 2021 29th Mediterranean Conference on Control and Automation, MED 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 29th Mediterranean Conference on Control and Automation, MED 2021
Y2 - 22 June 2021 through 25 June 2021
ER -