Abstract
The multi-robot adaptive sampling problem aims at finding trajectories for a team of robots to efficiently sample the phenomenon of interest within a given endurance budget of the robots. In this paper, we propose a robust and scalable approach using Multi-Agent Reinforcement Learning for cooperated Adaptive Sampling (MARLAS) of quasi-static environmental processes. Given a prior on the field being sampled, the proposed method learns decentralized policies for a team of robots to sample high-utility regions within a fixed budget. The multi-robot adaptive sampling problem requires the robots to coordinate with each other to avoid overlapping sampling trajectories. Therefore, we encode the estimates of neighbor positions and intermittent communication between robots into the learning process. We evaluated MARLAS over multiple performance metrics and found it to outperform other baseline multi-robot sampling techniques. Additionally, we demonstrate scalability with both the size of the robot team and the size of the region being sampled. We further demonstrate robustness to communication failures and robot failures. The experimental evaluations are conducted both in simulations on real data and in real robot experiments on demo environmental setup (The demo video can be accessed at: https://youtu.be/qRRpNC60KL4).
L. Pan and S. Manjanna—Equal contribution.
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Acknowledgements
We gratefully acknowledge the support of NSF IIS 1812319 and ARL DCIST CRA W911NF-17-2-0181.
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Pan, L., Manjanna, S., Hsieh, M.A. (2024). MARLAS: Multi Agent Reinforcement Learning for Cooperated Adaptive Sampling. In: Bourgeois, J., et al. Distributed Autonomous Robotic Systems. DARS 2022. Springer Proceedings in Advanced Robotics, vol 28. Springer, Cham. https://doi.org/10.1007/978-3-031-51497-5_25
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DOI: https://doi.org/10.1007/978-3-031-51497-5_25
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