End-to-end Deep Reinforcement Learning for Multi-agent Collaborative Exploration

摘要

Exploring an unknown environment by multiple autonomous robots is a major challenge in robotics domains. As multiple robots are assigned to explore different locations, they may interfere each other making the overall tasks less efficient. In this paper, we present a new model called CNN-based Multi-agent Proximal Policy Optimization (CMAPPO) to multi-agent exploration wherein the agents learn the effective strategy to allocate and explore the environment using a new deep reinforcement learning architecture. The model combines convolutional neural network to process multi-channel visual inputs, curriculum-based learning, and PPO algorithm for motivation based reinforcement learning. Evaluations show that the proposed method can learn more efficient strategy for multiple agents to explore the environment than the conventional frontier-based method.