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Deep reinforcement learning and graph-based approaches for multi-robot collision control

Acharya Adde, Nihal and Brauer, Christoph (2021) Deep reinforcement learning and graph-based approaches for multi-robot collision control. DLR-Interner Bericht. DLR-IB-FA-SD-2021-128. Master's. TU Braunschweig. 84 S.

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Abstract

Recently, multi-robot systems, in which several robots coordinate along with each other to achieve clearly defined goals, have become increasingly popular. But the challenge is to schedule them efficiently to avoid collisions and execute their respective jobs in the least time possible. The simplicity of multi-robots led to a wide range of potential applications, and we will focus on applications in the process of fiber placement. Fiber placement refers to a fabrication process for composite materials where reinforcing fibers are placed along a predetermined path in the component. The present thesis proposes various approaches like reinforcement learning and graph-based methods for optimal collision control in a multi-robot system and to schedule the robots to execute their tasks in the least possible time. These can be compared and later employed to significantly reduce the lead time in the multi-robot fiber placement process.

Item URL in elib:https://elib.dlr.de/143943/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Deep reinforcement learning and graph-based approaches for multi-robot collision control
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Acharya Adde, Nihaln.acharya-adde (at) tu-braunschweig.deUNSPECIFIED
Brauer, ChristophChristoph.Brauer (at) dlr.deUNSPECIFIED
Date:31 August 2021
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:84
Status:Published
Keywords:Multi-robot systems, Collision control, Reinforcement learning, Shortest path algorithms
Institution:TU Braunschweig
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Components and Systems
DLR - Research area:Aeronautics
DLR - Program:L CS - Components and Systems
DLR - Research theme (Project):L - Production Technologies
Location: Stade
Institutes and Institutions:Institute of Composite Structures and Adaptive Systems > Composite Process Technology
Deposited By: Schlegel, Linda
Deposited On:20 Sep 2021 10:33
Last Modified:13 Oct 2021 08:11

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