TR2022-053
Safe multi-agent motion planning via filtered reinforcement learning
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- "Safe multi-agent motion planning via filtered reinforcement learning", IEEE International Conference on Robotics and Automation (ICRA), May 2022.BibTeX TR2022-053 PDF Video
- @inproceedings{Vinod2022may,
- author = {Vinod, Abraham P. and Safaoui, Sleiman and Chakrabarty, Ankush and Quirynen, Rien and Yoshikawa, Nobuyuki and Di Cairano, Stefano},
- title = {Safe multi-agent motion planning via filtered reinforcement learning},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2022,
- month = may,
- url = {https://www.merl.com/publications/TR2022-053}
- }
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- "Safe multi-agent motion planning via filtered reinforcement learning", IEEE International Conference on Robotics and Automation (ICRA), May 2022.
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MERL Contacts:
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Research Areas:
Abstract:
We study the problem of safe multi-agent motion planning in cluttered environments. Existing multi-agent reinforcement learning-based motion planners only provide approximate safety enforcement. We propose a safe reinforcement learning algorithm that leverages single-agent reinforcement learning for target regulation and a subsequent convex optimization-based filtering that ensures the collective safety of the system. Our approach yields a safe, real-time implementable multi-agent motion planner that is simpler to train and enforces safety as hard constraints. Our approach can handle state and control constraints on the agents, and enforce collision avoidance among themselves and with static obstacles in the environment. Numerical simulations and hardware experiments show the efficacy of the approach.
Related News & Events
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NEWS MERL researchers presented 5 papers and an invited workshop talk at ICRA 2022 Date: May 23, 2022 - May 27, 2022
Where: International Conference on Robotics and Automation (ICRA)
MERL Contacts: Ankush Chakrabarty; Stefano Di Cairano; Siddarth Jain; Devesh K. Jha; Pedro Miraldo; Daniel N. Nikovski; Rien Quirynen; Arvind Raghunathan; Diego Romeres; Abraham P. Vinod; Yebin Wang
Research Areas: Artificial Intelligence, Machine Learning, RoboticsBrief- MERL researchers presented 5 papers at the IEEE International Conference on Robotics and Automation (ICRA) that was held in Philadelphia from May 23-27, 2022. The papers covered a broad range of topics from manipulation, tactile sensing, planning and multi-agent control. The invited talk was presented in the "Workshop on Collaborative Robots and Work of the Future" which covered some of the work done by MERL researchers on collaborative robotic assembly. The workshop was co-organized by MERL, Mitsubishi Electric Automation's North America Development Center (NADC), and MIT.