Reinforcement learning-based group navigation approach for multiple autonomous robotic systems

• Published in: Advanced robotics Vol. 20; no. 5; pp. 519 - 542
• Main Authors: Azouaoui, O., Cherifi, A., Bensalem, R., Farah, A., Achour, K.
• Format: Journal Article
• Language: English
• Published: Taylor & Francis Group 01.01.2006
• Subjects: AUTONOMOUS ROBOTIC SYSTEMS; ELEMENTARY BEHAVIORS; GROUP NAVIGATION; NAVIGATION IN FORMATION; REINFORCEMENT LEARNING
• ISSN: 0169-1864; 1568-5535
• DOI: 10.1163/156855306776985531

In several complex applications, the use of multiple autonomous robotic systems (ARS) becomes necessary to achieve different tasks, such as foraging and transport of heavy and large objects, with less cost and more efficiency. They have to achieve a high level of flexibility, adaptability and efficiency in real environments. In this paper, a reinforcement learning (RL)-based group navigation approach for multiple ARS is suggested. Indeed, the robots must have the ability to form geometric figures and navigate without collisions while maintaining the formation. Thus, each robot must learn how to take its place in the formation, and avoid obstacles and other ARS from its interaction with the environment. This approach must provide ARS with the capability to acquire the group navigation approach among several ARS from elementary behaviors by learning with trialand-error search. Then, simulation results display the ability of the suggested approach to provide ARS with capability to navigate in a group formation in dynamic environments. With its cooperative behavior, this approach makes ARS able to work together to successfully fulfill the desired task.