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2021 IEEE International Conference on Information Technologies

Deep Neural Networks in Collective Robotics Control

Vanya Dimitrova Markova
Ventseslav Kirilov Shopov
Institute of Robotics - Bulgarian Academy of Sciences, Plovdiv

Mobile agent formation control is an important issue for the collective of robots . Especially when they move independently without human oversight, controlling the movement and forming a collective of agents is a critical and challenging task. In this work, we propose a method for applying the training algorithm to assist the formation of groups of agents in a leader scenario. To exercise control through supportive learning, we present the problem of formation as a Markov decision-making process. This allows us to use deep reinforcement learning to obtain the law of leadership of the successor leader. The feasibility and effectiveness of this control approach is tested in simulation.

Key words:
agent formation control
collective of robots
deep reinforcement training