Computer Science > Artificial Intelligence
[Submitted on 16 Dec 2022 (v1), last revised 9 Jun 2023 (this version, v4)]
Title:An Energy-aware and Fault-tolerant Deep Reinforcement Learning based approach for Multi-agent Patrolling Problems
View PDFAbstract:Autonomous vehicles are suited for continuous area patrolling problems. However, finding an optimal patrolling strategy can be challenging for many reasons. Firstly, patrolling environments are often complex and can include unknown environmental factors, such as wind or landscape. Secondly, autonomous vehicles can have failures or hardware constraints, such as limited battery life. Importantly, patrolling large areas often requires multiple agents that need to collectively coordinate their actions. In this work, we consider these limitations and propose an approach based on model-free, deep multi-agent reinforcement learning. In this approach, the agents are trained to patrol an environment with various unknown dynamics and factors. They can automatically recharge themselves to support continuous collective patrolling. A distributed homogeneous multi-agent architecture is proposed, where all patrolling agents execute identical policies locally based on their local observations and shared location information. This architecture provides a patrolling system that can tolerate agent failures and allow supplementary agents to be added to replace failed agents or to increase the overall patrol performance. The solution is validated through simulation experiments from multiple perspectives, including the overall patrol performance, the efficiency of battery recharging strategies, the overall fault tolerance, and the ability to cooperate with supplementary agents.
Submission history
From: Chenhao Tong [view email][v1] Fri, 16 Dec 2022 01:38:35 UTC (12,996 KB)
[v2] Tue, 24 Jan 2023 06:39:45 UTC (11,099 KB)
[v3] Wed, 25 Jan 2023 02:31:02 UTC (11,099 KB)
[v4] Fri, 9 Jun 2023 03:22:52 UTC (15,480 KB)
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