Corpus ID: 237563193

Decentralized Global Connectivity Maintenance for Multi-Robot Navigation: A Reinforcement Learning Approach

  title={Decentralized Global Connectivity Maintenance for Multi-Robot Navigation: A Reinforcement Learning Approach},
  author={Minghao Li and Yingrui Jie and Yang Kong and Hui Cheng},
The problem of multi-robot navigation of connectivity maintenance is challenging in multi-robot applications. This work investigates how to navigate a multi-robot team in unknown environments while maintaining connectivity. We propose a reinforcement learning (RL) approach to develop a decentralized policy, which is shared among multiple robots. Given range sensor measurements and the positions of other robots, the policy aims to generate control commands for navigation and preserve the global… Expand

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