Multi-robot Cooperative Object Transportation using Decentralized Deep Reinforcement Learning
This addresses the challenge of data overload and control complexity in multi-robot systems for tasks like object transportation, though it appears incremental as it applies existing DQN methods to a decentralized setup.
The paper tackles the problem of controlling a multi-robot system for oversized object transportation by proposing a decentralized deep Q-network (DQN) controller, which enables robots to learn cooperative behaviors without system dynamics knowledge and demonstrates robustness in a two-robot scenario carrying a rod through a doorway.
Object transportation could be a challenging problem for a single robot due to the oversize and/or overweight issues. A multi-robot system can take the advantage of increased driving power and more flexible configuration to solve such a problem. However, increased number of individuals also changed the dynamics of the system which makes control of a multi-robot system more complicated. Even worse, if the whole system is sitting on a centralized decision making unit, the data flow could be easily overloaded due to the upscaling of the system. In this research, we propose a decentralized control scheme on a multi-robot system with each individual equipped with a deep Q-network (DQN) controller to perform an oversized object transportation task. DQN is a deep reinforcement learning algorithm thus does not require the knowledge of system dynamics, instead, it enables the robots to learn appropriate control strategies through trial-and-error style interactions within the task environment. Since analogous controllers are distributed on the individuals, the computational bottleneck is avoided systematically. We demonstrate such a system in a scenario of carrying an oversized rod through a doorway by a two-robot team. The presented multi-robot system learns abstract features of the task and cooperative behaviors are observed. The decentralized DQN-style controller is showing strong robustness against uncertainties. In addition, We propose a universal metric to assess the cooperation quantitatively.