Multi-target Coverage with Connectivity Maintenance using Knowledge-incorporated Policy Framework | |
Shiguang Wu1,2; Zhiqiang Pu1,2; Zhen Liu2; Tenghai Qiu2; Jianqiang Yi1,2; Tianle Zhang1,2 | |
2021 | |
会议日期 | May 31-Jun. 4 |
会议地点 | Xi'an China |
DOI | 10.1109/ICRA48506.2021.9562017 |
英文摘要 | This paper considers a multi-target coverage problem where a robot team aims to efficiently cover multi-targets while maintaining connectivity in a distributed manner. A novel knowledge-incorporated policy framework is proposed to derive a distributed, efficient, and connectivity guaranteed coverage policy. In particular, a knowledge-guided policy network (KGPnet) is designed, which consists of observation attention representation, interaction attention representation, and knowledge-guided policy learning. Giving credit to the KGPnet, the connectivity guaranteed coverage policy can be applied to different number targets. Moreover, based on the knowledge of the algebraic connectivity and coverage rate, a comprehensive reward is designed to guide the training of the behavior of multi-target coverage with connectivity maintenance. Furthermore, since the policy learned through deep reinforcement learning (DRL) can not guarantee the connectivity of the robot team, a knowledge-nested policy filtering is designed to filter dis-connectivity policies to satisfy the connectivity constraint based on the knowledge model of connectivity maintenance. Various simulations are conducted to verify the effectiveness of the proposed method. Besides, numerous real-world experiments with three-wheel omnidirectional cars and a motion capture system are presented to demonstrate the practicability of the proposed method. |
语种 | 英语 |
URL标识 | 查看原文 |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/47440] |
专题 | 综合信息系统研究中心_飞行器智能技术 |
通讯作者 | Zhiqiang Pu |
作者单位 | 1.School of Artificial Intelligence, University of Chinese Academy of Sciences 2.Institute of Automation, Chinese Academy of Sciences |
推荐引用方式 GB/T 7714 | Shiguang Wu,Zhiqiang Pu,Zhen Liu,et al. Multi-target Coverage with Connectivity Maintenance using Knowledge-incorporated Policy Framework[C]. 见:. Xi'an China. May 31-Jun. 4. |
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