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Lifelong Multi-Agent Path Finding (LMAPF) is a variant of MAPF where agents are continually assigned new goals, necessitating frequent re-planning to accommodate these dynamic changes. Recently, this field has embraced learning-based methods, which reactively generate single-step actions based on individual local observations. However, it is still challenging for them to match the performance of the best search-based algorithms, especially in large-scale settings. This work proposes an imitation-learning-based LMAPF solver that introduces a novel communication module and systematic single-step collision resolution and global guidance techniques. Our proposed solver, Scalable Imitation Learning for LMAPF (SILLM), inherits the fast reasoning speed of learning-based methods and the high solution quality of search-based methods with the help of modern GPUs. Across six large-scale maps with up to 10,000 agents and varying obstacle structures, SILLM surpasses the best learning- and search-based baselines, achieving average throughput improvements of 137.7% and 16.0%, respectively. Furthermore, SILLM also beats the winning solution of the 2023 League of Robot Runners, an international LMAPF competition sponsored by Amazon Robotics. Finally, we validated SILLM with 10 real robots and 100 virtual robots in a mockup warehouse environment., Comment: Submitted to ICRA 2025

Autonomous robot exploration requires a robot to efficiently explore and map unknown environments. Compared to conventional methods that can only optimize paths based on the current robot belief, learning-based methods show the potential to achieve improved performance by drawing on past experiences to reason about unknown areas. In this paper, we propose DARE, a novel generative approach that leverages diffusion models trained on expert demonstrations, which can explicitly generate an exploration path through one-time inference. We build DARE upon an attention-based encoder and a diffusion policy model, and introduce ground truth optimal demonstrations for training to learn better patterns for exploration. The trained planner can reason about the partial belief to recognize the potential structure in unknown areas and consider these areas during path planning. Our experiments demonstrate that DARE achieves on-par performance with both conventional and learning-based state-of-the-art exploration planners, as well as good generalizability in both simulations and real-life scenarios.

Information sharing is critical in time-sensitive and realistic multi-robot exploration, especially for smaller robotic teams in large-scale environments where connectivity may be sparse and intermittent. Existing methods often overlook such communication constraints by assuming unrealistic global connectivity. Other works account for communication constraints (by maintaining close proximity or line of sight during information exchange), but are often inefficient. For instance, preplanned rendezvous approaches typically involve unnecessary detours resulting from poorly timed rendezvous, while pursuit-based approaches often result in short-sighted decisions due to their greedy nature. We present IR2, a deep reinforcement learning approach to information sharing for multi-robot exploration. Leveraging attention-based neural networks trained via reinforcement and curriculum learning, IR2 allows robots to effectively reason about the longer-term trade-offs between disconnecting for solo exploration and reconnecting for information sharing. In addition, we propose a hierarchical graph formulation to maintain a sparse yet informative graph, enabling our approach to scale to large-scale environments. We present simulation results in three large-scale Gazebo environments, which show that our approach yields 6.6-34.1% shorter exploration paths and significantly improved mapped area consistency among robots when compared to state-of-the-art baselines. Our simulation training and testing code is available at https://github.com/marmotlab/IR2., Comment: \c{opyright} 20XX IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

In this paper, we introduce HDPlanner, a deep reinforcement learning (DRL) based framework designed to tackle two core and challenging tasks for mobile robots: autonomous exploration and navigation, where the robot must optimize its trajectory adaptively to achieve the task objective through continuous interactions in unknown environments. Specifically, HDPlanner relies on novel hierarchical attention networks to empower the robot to reason about its belief across multiple spatial scales and sequence collaborative decisions, where our networks decompose long-term objectives into short-term informative task assignments and informative path plannings. We further propose a contrastive learning-based joint optimization to enhance the robustness of HDPlanner. We empirically demonstrate that HDPlanner significantly outperforms state-of-the-art conventional and learning-based baselines on an extensive set of simulations, including hundreds of test maps and large-scale, complex Gazebo environments. Notably, HDPlanner achieves real-time planning with travel distances reduced by up to 35.7% compared to exploration benchmarks and by up to 16.5% than navigation benchmarks. Furthermore, we validate our approach on hardware, where it generates high-quality, adaptive trajectories in both indoor and outdoor environments, highlighting its real-world applicability without additional training., Comment: Submitted to RA-L

The Multi-agent Path Finding (MAPF) problem involves finding collision-free paths for a team of agents in a known, static environment, with important applications in warehouse automation, logistics, or last-mile delivery. To meet the needs of these large-scale applications, current learning-based methods often deploy the same fully trained, decentralized network to all agents to improve scalability. However, such parameter sharing typically results in homogeneous behaviors among agents, which may prevent agents from breaking ties around symmetric conflict (e.g., bottlenecks) and might lead to live-/deadlocks. In this paper, we propose SYLPH, a novel learning-based MAPF framework aimed to mitigate the adverse effects of homogeneity by allowing agents to learn and dynamically select different social behaviors (akin to individual, dynamic roles), without affecting the scalability offered by parameter sharing. Specifically, SYLPH agents learn to select their Social Value Orientation (SVO) given the situation at hand, quantifying their own level of selfishness/altruism, as well as an SVO-conditioned MAPF policy dictating their movement actions. To these ends, each agent first determines the most influential other agent in the system by predicting future conflicts/interactions with other agents. Each agent selects its own SVO towards that agent, and trains its decentralized MAPF policy to enact this SVO until another agent becomes more influential. To further allow agents to consider each others' social preferences, each agent gets access to the SVO value of their neighbors. As a result of this hierarchical decision-making and exchange of social preferences, SYLPH endows agents with the ability to reason about the MAPF task through more latent spaces and nuanced contexts, leading to varied responses that can help break ties around symmetric conflicts. [...], Comment: Submitted to Springer's Artificial Intelligence Journal

Communication bandwidth is an important consideration in multi-robot exploration, where information exchange among robots is critical. While existing methods typically aim to reduce communication throughput, they either require significant computation or significantly compromise exploration efficiency. In this work, we propose a deep reinforcement learning framework based on communication and privileged reinforcement learning to achieve a significant reduction in bandwidth consumption, while minimally sacrificing exploration efficiency. Specifically, our approach allows robots to learn to embed the most salient information from their individual belief (partial map) over the environment into fixed-sized messages. Robots then reason about their own belief as well as received messages to distributedly explore the environment while avoiding redundant work. In doing so, we employ privileged learning and learned attention mechanisms to endow the critic (i.e., teacher) network with ground truth map knowledge to effectively guide the policy (i.e., student) network during training. Compared to relevant baselines, our model allows the team to reduce communication by up to two orders of magnitude, while only sacrificing a marginal 2.4\% in total travel distance, paving the way for efficient, distributed multi-robot exploration in bandwidth-limited scenarios., Comment: Accepted by DARS2024

In recent years, the field of aerial robotics has witnessed significant progress, finding applications in diverse domains, including post-disaster search and rescue operations. Despite these strides, the prohibitive acquisition costs associated with deploying physical multi-UAV systems have posed challenges, impeding their widespread utilization in research endeavors. To overcome these challenges, we present STAR (Swarm Technology for Aerial Robotics Research), a framework developed explicitly to improve the accessibility of aerial swarm research experiments. Our framework introduces a swarm architecture based on the Crazyflie, a low-cost, open-source, palm-sized aerial platform, well suited for experimental swarm algorithms. To augment cost-effectiveness and mitigate the limitations of employing low-cost robots in experiments, we propose a landmark-based localization module leveraging fiducial markers. This module, also serving as a target detection module, enhances the adaptability and versatility of the framework. Additionally, collision and obstacle avoidance are implemented through velocity obstacles. The presented work strives to bridge the gap between theoretical advances and tangible implementations, thus fostering progress in the field.

Multi-Agent Path Finding (MAPF) is a critical component of logistics and warehouse management, which focuses on planning collision-free paths for a team of robots in a known environment. Recent work introduced a novel MAPF approach, LNS2, which proposed to repair a quickly-obtainable set of infeasible paths via iterative re-planning, by relying on a fast, yet lower-quality, priority-based planner. At the same time, there has been a recent push for Multi-Agent Reinforcement Learning (MARL) based MAPF algorithms, which let agents learn decentralized policies that exhibit improved cooperation over such priority planning, although inevitably remaining slower. In this paper, we introduce a new MAPF algorithm, LNS2+RL, which combines the distinct yet complementary characteristics of LNS2 and MARL to effectively balance their individual limitations and get the best from both worlds. During early iterations, LNS2+RL relies on MARL for low-level re-planning, which we show eliminates collisions much more than a priority-based planner. There, our MARL-based planner allows agents to reason about past and future/predicted information to gradually learn cooperative decision-making through a finely designed curriculum learning. At later stages of planning, LNS2+RL adaptively switches to priority-based planning to quickly resolve the remaining collisions, naturally trading-off solution quality and computational efficiency. Our comprehensive experiments on challenging tasks across various team sizes, world sizes, and map structures consistently demonstrate the superior performance of LNS2+RL compared to many MAPF algorithms, including LNS2, LaCAM, and EECBS, where LNS2+RL shows significantly better performance in complex scenarios. We finally experimentally validate our algorithm in a hybrid simulation of a warehouse mockup involving a team of 100 (real-world and simulated) robots.

Animals possess a remarkable ability to navigate challenging terrains, achieved through the interplay of various pathways between the brain, central pattern generators (CPGs) in the spinal cord, and musculoskeletal system. Traditional bioinspired control frameworks often rely on a singular control policy that models both higher (supraspinal) and spinal cord functions. In this work, we build upon our previous research by introducing two distinct neural networks: one tasked with modulating the frequency and amplitude of CPGs to generate the basic locomotor rhythm (referred to as the spinal policy, SCP), and the other responsible for receiving environmental perception data and directly modulating the rhythmic output from the SCP to execute precise movements on challenging terrains (referred to as the descending modulation policy). This division of labor more closely mimics the hierarchical locomotor control systems observed in legged animals, thereby enhancing the robot's ability to navigate various uneven surfaces, including steps, high obstacles, and terrains with gaps. Additionally, we investigate the impact of sensorimotor delays within our framework, validating several biological assumptions about animal locomotion systems. Specifically, we demonstrate that spinal circuits play a crucial role in generating the basic locomotor rhythm, while descending pathways are essential for enabling appropriate gait modifications to accommodate uneven terrain. Notably, our findings also reveal that the multi-layered control inherent in animals exhibits remarkable robustness against time delays. Through these investigations, this paper contributes to a deeper understanding of the fundamental principles of interplay between spinal and supraspinal mechanisms in biological locomotion. It also supports the development of locomotion controllers in parallel to biological structures which are ..., Comment: Submitted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)

In this work, we propose a deep reinforcement learning (DRL) based reactive planner to solve large-scale Lidar-based autonomous robot exploration problems in 2D action space. Our DRL-based planner allows the agent to reactively plan its exploration path by making implicit predictions about unknown areas, based on a learned estimation of the underlying transition model of the environment. To this end, our approach relies on learned attention mechanisms for their powerful ability to capture long-term dependencies at different spatial scales to reason about the robot's entire belief over known areas. Our approach relies on ground truth information (i.e., privileged learning) to guide the environment estimation during training, as well as on a graph rarefaction algorithm, which allows models trained in small-scale environments to scale to large-scale ones. Simulation results show that our model exhibits better exploration efficiency (12% in path length, 6% in makespan) and lower planning time (60%) than the state-of-the-art planners in a 130m x 100m benchmark scenario. We also validate our learned model on hardware., Comment: \c{opyright} 20XX IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

The multi-agent pathfinding (MAPF) problem seeks collision-free paths for a team of agents from their current positions to their pre-set goals in a known environment, and is an essential problem found at the core of many logistics, transportation, and general robotics applications. Existing learning-based MAPF approaches typically only let each agent make decisions based on a limited field-of-view (FOV) around its position, as a natural means to fix the input dimensions of its policy network. However, this often makes policies short-sighted, since agents lack the ability to perceive and plan for obstacles/agents beyond their FOV. To address this challenge, we propose ALPHA, a new framework combining the use of ground truth proximal (local) information and fuzzy distal (global) information to let agents sequence local decisions based on the full current state of the system, and avoid such myopicity. We further allow agents to make short-term predictions about each others' paths, as a means to reason about each others' path intentions, thereby enhancing the level of cooperation among agents at the whole system level. Our neural structure relies on a Graph Transformer architecture to allow agents to selectively combine these different sources of information and reason about their inter-dependencies at different spatial scales. Our simulation experiments demonstrate that ALPHA outperforms both globally-guided MAPF solvers and communication-learning based ones, showcasing its potential towards scalability in realistic deployments., Comment: Submitted to the IEEE International Conference on Robotics and Automation (ICRA 2024)

Optimal Control for legged robots has gone through a paradigm shift from position-based to torque-based control, owing to the latter's compliant and robust nature. In parallel to this shift, the community has also turned to Deep Reinforcement Learning (DRL) as a promising approach to directly learn locomotion policies for complex real-life tasks. However, most end-to-end DRL approaches still operate in position space, mainly because learning in torque space is often sample-inefficient and does not consistently converge to natural gaits. To address these challenges, we propose a two-stage framework. In the first stage, we generate our own imitation data by training a position-based policy, eliminating the need for expert knowledge to design optimal controllers. The second stage incorporates decaying action priors, a novel method to enhance the exploration of torque-based policies aided by imitation rewards. We show that our approach consistently outperforms imitation learning alone and is robust to scaling these rewards from 0.1x to 10x. We further validate the benefits of torque control by comparing the robustness of a position-based policy to a position-assisted torque-based policy on a quadruped (Unitree Go1) without any domain randomization in the form of external disturbances during training., Comment: \c{opyright} 20XX IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments, many legged platform demonstrations have also included "moving an object" as a way of doing tangible work. Legged robots can be designed to manipulate a particular type of object (e.g., a cardboard box, a soccer ball, or a larger piece of furniture), by themselves or collaboratively. The objective of this review is to collect and learn from these examples, to both organize the work done so far in the community and highlight interesting open avenues for future work. This review categorizes existing works into four main manipulation methods: object interactions without grasping, manipulation with walking legs, dedicated non-locomotive arms, and legged teams. Each method has different design and autonomy features, which are illustrated by available examples in the literature. Based on a few simplifying assumptions, we further provide quantitative comparisons for the range of possible relative sizes of the manipulated object with respect to the robot. Taken together, these examples suggest new directions for research in legged robot manipulation, such as multifunctional limbs, terrain modeling, or learning-based control, to support a number of new deployments in challenging indoor/outdoor scenarios in warehouses/construction sites, preserved natural areas, and especially for home robotics., Comment: Preprint of the paper submitted to Frontiers in Mechanical Engineering

This work focuses on the persistent monitoring problem, where a set of targets moving based on an unknown model must be monitored by an autonomous mobile robot with a limited sensing range. To keep each target's position estimate as accurate as possible, the robot needs to adaptively plan its path to (re-)visit all the targets and update its belief from measurements collected along the way. In doing so, the main challenge is to strike a balance between exploitation, i.e., re-visiting previously-located targets, and exploration, i.e., finding new targets or re-acquiring lost ones. Encouraged by recent advances in deep reinforcement learning, we introduce an attention-based neural solution to the persistent monitoring problem, where the agent can learn the inter-dependencies between targets, i.e., their spatial and temporal correlations, conditioned on past measurements. This endows the agent with the ability to determine which target, time, and location to attend to across multiple scales, which we show also helps relax the usual limitations of a finite target set. We experimentally demonstrate that our method outperforms other baselines in terms of number of targets visits and average estimation error in complex environments. Finally, we implement and validate our model in a drone-based simulation experiment to monitor mobile ground targets in a high-fidelity simulator., Comment: Submitted to the IEEE/RSJ International Conference on Intelligent Robots (IROS 2023)

In multi-agent informative path planning (MAIPP), agents must collectively construct a global belief map of an underlying distribution of interest (e.g., gas concentration, light intensity, or pollution levels) over a given domain, based on measurements taken along their trajectory. They must frequently replan their path to balance the exploration of new areas with the exploitation of known high-interest areas, to maximize information gain within a predefined budget. Traditional approaches rely on reactive path planning conditioned on other agents' predicted future actions. However, as the belief is continuously updated, the predicted actions may not match the executed actions, introducing noise and reducing performance. We propose a decentralized, deep reinforcement learning (DRL) approach using an attention-based neural network, where agents optimize long-term individual and cooperative objectives by sharing their intent, represented as a distribution of medium-/long-term future positions obtained from their own policy. Intent sharing enables agents to learn to claim or avoid broader areas, while the use of attention mechanisms allows them to identify useful portions of imperfect predictions, maximizing cooperation even based on imperfect information. Our experiments compare the performance of our approach, its variants, and high-quality baselines across various MAIPP scenarios. We finally demonstrate the effectiveness of our approach under limited communication ranges, towards deployments under realistic communication constraints., Comment: \c{opyright} 20XX IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

Trading off performance guarantees in favor of scalability, the Multi-Agent Path Finding (MAPF) community has recently started to embrace Multi-Agent Reinforcement Learning (MARL), where agents learn to collaboratively generate individual, collision-free (but often suboptimal) paths. Scalability is usually achieved by assuming a local field of view (FOV) around the agents, helping scale to arbitrary world sizes. However, this assumption significantly limits the amount of information available to the agents, making it difficult for them to enact the type of joint maneuvers needed in denser MAPF tasks. In this paper, we propose SCRIMP, where agents learn individual policies from even very small (down to 3x3) FOVs, by relying on a highly-scalable global/local communication mechanism based on a modified transformer. We further equip agents with a state-value-based tie-breaking strategy to further improve performance in symmetric situations, and introduce intrinsic rewards to encourage exploration while mitigating the long-term credit assignment problem. Empirical evaluations on a set of experiments indicate that SCRIMP can achieve higher performance with improved scalability compared to other state-of-the-art learning-based MAPF planners with larger FOVs, and even yields similar performance as a classical centralized planner in many cases. Ablation studies further validate the effectiveness of our proposed techniques. Finally, we show that our trained model can be directly implemented on real robots for online MAPF through high-fidelity simulations in gazebo., Comment: \c{opyright} 20XX IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

In autonomous robot exploration tasks, a mobile robot needs to actively explore and map an unknown environment as fast as possible. Since the environment is being revealed during exploration, the robot needs to frequently re-plan its path online, as new information is acquired by onboard sensors and used to update its partial map. While state-of-the-art exploration planners are frontier- and sampling-based, encouraged by the recent development in deep reinforcement learning (DRL), we propose ARiADNE, an attention-based neural approach to obtain real-time, non-myopic path planning for autonomous exploration. ARiADNE is able to learn dependencies at multiple spatial scales between areas of the agent's partial map, and implicitly predict potential gains associated with exploring those areas. This allows the agent to sequence movement actions that balance the natural trade-off between exploitation/refinement of the map in known areas and exploration of new areas. We experimentally demonstrate that our method outperforms both learning and non-learning state-of-the-art baselines in terms of average trajectory length to complete exploration in hundreds of simplified 2D indoor scenarios. We further validate our approach in high-fidelity Robot Operating System (ROS) simulations, where we consider a real sensor model and a realistic low-level motion controller, toward deployment on real robots., Comment: \c{opyright} 20XX IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

Purpose of review: Recent advances in sensing, actuation, and computation have opened the door to multi-robot systems consisting of hundreds/thousands of robots, with promising applications to automated manufacturing, disaster relief, harvesting, last-mile delivery, port/airport operations, or search and rescue. The community has leveraged model-free multi-agent reinforcement learning (MARL) to devise efficient, scalable controllers for multi-robot systems (MRS). This review aims to provide an analysis of the state-of-the-art in distributed MARL for multi-robot cooperation. Recent findings: Decentralized MRS face fundamental challenges, such as non-stationarity and partial observability. Building upon the "centralized training, decentralized execution" paradigm, recent MARL approaches include independent learning, centralized critic, value decomposition, and communication learning approaches. Cooperative behaviors are demonstrated through AI benchmarks and fundamental real-world robotic capabilities such as multi-robot motion/path planning. Summary: This survey reports the challenges surrounding decentralized model-free MARL for multi-robot cooperation and existing classes of approaches. We present benchmarks and robotic applications along with a discussion on current open avenues for research., Comment: Preprint of the paper submitted to Springer's Current Robotics Reports

Decentralized cooperation in partially-observable multi-agent systems requires effective communications among agents. To support this effort, this work focuses on the class of problems where global communications are available but may be unreliable, thus precluding differentiable communication learning methods. We introduce FCMNet, a reinforcement learning based approach that allows agents to simultaneously learn a) an effective multi-hop communications protocol and b) a common, decentralized policy that enables team-level decision-making. Specifically, our proposed method utilizes the hidden states of multiple directional recurrent neural networks as communication messages among agents. Using a simple multi-hop topology, we endow each agent with the ability to receive information sequentially encoded by every other agent at each time step, leading to improved global cooperation. We demonstrate FCMNet on a challenging set of StarCraft II micromanagement tasks with shared rewards, as well as a collaborative multi-agent pathfinding task with individual rewards. There, our comparison results show that FCMNet outperforms state-of-the-art communication-based reinforcement learning methods in all StarCraft II micromanagement tasks, and value decomposition methods in certain tasks. We further investigate the robustness of FCMNet under realistic communication disturbances, such as random message loss or binarized messages (i.e., non-differentiable communication channels), to showcase FMCNet's potential applicability to robotic tasks under a variety of real-world conditions., Comment: To appear in the International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2022)

Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve mobility. However, a challenge in designing and controlling such devices lies in the coordination of high-dimensional redundant modules in a way that improves mobility. Here we develop a general framework to control serially connected multi-legged robots. Specifically, we combine two approaches to build a general shape control scheme which can provide baseline patterns of self-deformation ("gaits") for effective locomotion in diverse robot morphologies. First, we take inspiration from a dimensionality reduction and a biological gait classification scheme to generate cyclic patterns of body deformation and foot lifting/lowering, which facilitate generation of arbitrary substrate contact patterns. Second, we use geometric mechanics methods to facilitates identification of optimal phasing of these undulations to maximize speed and/or stability. Our scheme allows the development of effective gaits in multi-legged robots locomoting on flat frictional terrain with diverse number of limbs (4, 6, 16, and even 0 limbs) and body actuation capabilities (including sidewinding gaits on limbless devices). By properly coordinating the body undulation and the leg placement, our framework combines the advantages of both limbless robots (modularity) and legged robots (mobility). We expect that our framework can provide general control schemes for the rapid deployment of general multi-legged robots, paving the ways toward machines that can traverse complex environments under real-life conditions.

The multiple traveling salesman problem (mTSP) is a well-known NP-hard problem with numerous real-world applications. In particular, this work addresses MinMax mTSP, where the objective is to minimize the max tour length among all agents. Many robotic deployments require recomputing potentially large mTSP instances frequently, making the natural trade-off between computing time and solution quality of great importance. However, exact and heuristic algorithms become inefficient as the number of cities increases, due to their computational complexity. Encouraged by the recent developments in deep reinforcement learning (dRL), this work approaches the mTSP as a cooperative task and introduces DAN, a decentralized attention-based neural method that aims at tackling this key trade-off. In DAN, agents learn fully decentralized policies to collaboratively construct a tour, by predicting each other's future decisions. Our model relies on the Transformer architecture and is trained using multi-agent RL with parameter sharing, providing natural scalability to the numbers of agents and cities. Our experimental results on small- to large-scale mTSP instances ($50$ to $1000$ cities and $5$ to $20$ agents) show that DAN is able to match or outperform state-of-the-art solvers while keeping planning times low. In particular, given the same computation time budget, DAN outperforms all conventional and dRL-based baselines on larger-scale instances (more than 100 cities, more than 5 agents), and exhibits enhanced agent collaboration. A video explaining our approach and presenting our results is available at \url{https://youtu.be/xi3cLsDsLvs}., Comment: Submitted to the 16th International Symposium on Distributed Autonomous Robotic Systems (DARS 2022)

Multi-agent path finding (MAPF) is an indispensable component of large-scale robot deployments in numerous domains ranging from airport management to warehouse automation. In particular, this work addresses lifelong MAPF (LMAPF) - an online variant of the problem where agents are immediately assigned a new goal upon reaching their current one - in dense and highly structured environments, typical of real-world warehouse operations. Effectively solving LMAPF in such environments requires expensive coordination between agents as well as frequent replanning abilities, a daunting task for existing coupled and decoupled approaches alike. With the purpose of achieving considerable agent coordination without any compromise on reactivity and scalability, we introduce PRIMAL2, a distributed reinforcement learning framework for LMAPF where agents learn fully decentralized policies to reactively plan paths online in a partially observable world. We extend our previous work, which was effective in low-density sparsely occupied worlds, to highly structured and constrained worlds by identifying behaviors and conventions which improve implicit agent coordination, and enable their learning through the construction of a novel local agent observation and various training aids. We present extensive results of PRIMAL2 in both MAPF and LMAPF environments and compare its performance to state-of-the-art planners in terms of makespan and throughput. We show that PRIMAL2 significantly surpasses our previous work and performs comparably to these baselines, while allowing real-time re-planning and scaling up to 2048 agents., Comment: \c{opyright} 20XX IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

Multi-agent foraging (MAF) involves distributing a team of agents to search an environment and extract resources from it. Nature provides several examples of highly effective foragers, where individuals within the foraging collective use biological markers (e.g., pheromones) to communicate critical information to others via the environment. In this work, we propose ForMIC, a distributed reinforcement learning MAF approach that endows agents with implicit communication abilities via their shared environment. However, learning efficient policies with stigmergic interactions is highly nontrivial, since agents need to perform well to send each other useful signals, but also need to sense others' signals to perform well. In this work, we develop several key learning techniques for training policies with stigmergic interactions, where such a circular dependency is present. By relying on clever curriculum learning design, action filtering, and the introduction of non-learning agents to increase the agent density at training time at low computational cost, we develop a minimal learning framework that leads to the stable training of efficient stigmergic policies. We present simulation results which demonstrate that our learned policy outperforms existing state-of-the-art MAF algorithms in a set of experiments that vary team size, number and placement of resources, and key environmental dynamics not seen at training time., Comment: \c{opyright} 20XX IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

State-of-the-art distributed algorithms for reinforcement learning rely on multiple independent agents, which simultaneously learn in parallel environments while asynchronously updating a common, shared policy. Moreover, decentralized control architectures (e.g., CPGs) can coordinate spatially distributed portions of an articulated robot to achieve system-level objectives. In this work, we investigate the relationship between distributed learning and decentralized control by learning decentralized control policies for the locomotion of articulated robots in challenging environments. To this end, we present an approach that leverages the structure of the asynchronous advantage actor-critic (A3C) algorithm to provide a natural means of learning decentralized control policies on a single articulated robot. Our primary contribution shows individual agents in the A3C algorithm can be defined by independently controlled portions of the robot's body, thus enabling distributed learning on a single robot for efficient hardware implementation. We present results of closed-loop locomotion in unstructured terrains on a snake and a hexapod robot, using decentralized controllers learned offline and online respectively. Preprint of the paper submitted to the IEEE Transactions in Robotics (T-RO) journal in October 2018, and accepted for publication as a regular paper in May 2019., Comment: \c{opyright} 20XX IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

Multi-agent path finding (MAPF) is an essential component of many large-scale, real-world robot deployments, from aerial swarms to warehouse automation. However, despite the community's continued efforts, most state-of-the-art MAPF planners still rely on centralized planning and scale poorly past a few hundred agents. Such planning approaches are maladapted to real-world deployments, where noise and uncertainty often require paths be recomputed online, which is impossible when planning times are in seconds to minutes. We present PRIMAL, a novel framework for MAPF that combines reinforcement and imitation learning to teach fully-decentralized policies, where agents reactively plan paths online in a partially-observable world while exhibiting implicit coordination. This framework extends our previous work on distributed learning of collaborative policies by introducing demonstrations of an expert MAPF planner during training, as well as careful reward shaping and environment sampling. Once learned, the resulting policy can be copied onto any number of agents and naturally scales to different team sizes and world dimensions. We present results on randomized worlds with up to 1024 agents and compare success rates against state-of-the-art MAPF planners. Finally, we experimentally validate the learned policies in a hybrid simulation of a factory mockup, involving both real-world and simulated robots., Comment: \c{opyright} 20XX IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

Recent literature in the robotics community has focused on learning robot behaviors that abstract out lower-level details of robot control. To fully leverage the efficacy of such behaviors, it is necessary to select and sequence them to achieve a given task. In this paper, we present an approach to both learn and sequence robot behaviors, applied to the problem of visual navigation of mobile robots. We construct a layered representation of control policies composed of low- level behaviors and a meta-level policy. The low-level behaviors enable the robot to locomote in a particular environment while avoiding obstacles, and the meta-level policy actively selects the low-level behavior most appropriate for the current situation based purely on visual feedback. We demonstrate the effectiveness of our method on three simulated robot navigation tasks: a legged hexapod robot which must successfully traverse varying terrain, a wheeled robot which must navigate a maze-like course while avoiding obstacles, and finally a wheeled robot navigating in the presence of dynamic obstacles. We show that by learning control policies in a layered manner, we gain the ability to successfully traverse new compound environments composed of distinct sub-environments, and outperform both the low-level behaviors in their respective sub-environments, as well as a hand-crafted selection of low-level policies on these compound environments.