Graph Soft Actor-Critic Reinforcement Learning for Large-Scale Distributed Multirobot Coordination

Learning distributed cooperative policies for large-scale multirobot systems remains a challenging task in the multiagent reinforcement learning (MARL) context. In this work, we model the interactions among the robots as a graph and propose a novel off-policy actor-critic MARL algorithm to train dis...

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Veröffentlicht in:	IEEE transaction on neural networks and learning systems Jg. 36; H. 1; S. 665 - 676
Hauptverfasser:	Hu, Yifan, Fu, Junjie, Wen, Guanghui
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	United States IEEE 01.01.2025
Schlagworte:	Distributed coordination graph neural network (GNN) Multi-robot systems multiagent reinforcement learning (MARL) multirobot system Protocols Reinforcement learning Robot kinematics Scalability Simulation soft \text{actor(!{-}!)critic} (SAC) algorithm Task analysis
ISSN:	2162-237X, 2162-2388, 2162-2388
Online-Zugang:	Volltext
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