Learning to Self-Reconfigure for Freeform Modular Robots via Altruism Proximal Policy Optimization

Lei Wu, Bin Guo, Qiuyun Zhang, Zhuo Sun, Jieyi Zhang, Zhiwen Yu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

The advantages of modular robot systems stem from their ability to change between different configurations, enabling them to adapt to complex and dynamic real-world environments. Then, how to perform the accurate and efficient change of the modular robot system, i.e., the self-reconfiguration problem, is essential. Existing reconfiguration algorithms are based on discrete motion primitives and are suitable for lattice-type modular robots. The modules of freeform modular robots are connected without alignment, and the motion space is continuous. It renders existing reconfiguration methods infeasible. In this paper, we design a parallel distributed self-reconfiguration algorithm for freeform modular robots based on multi-agent reinforcement learning to realize the automatic design of conflict-free reconfiguration controllers in continuous action spaces. To avoid conflicts, we incorporate a collaborative mechanism into reinforcement learning. Furthermore, we design the distributed termination criteria to achieve timely termination in the presence of limited communication and local observability. When compared to the baselines, simulations show that the proposed method improves efficiency and congruence, and module movement demonstrates altruism.

Original languageEnglish
Title of host publicationProceedings of the 32nd International Joint Conference on Artificial Intelligence, IJCAI 2023
EditorsEdith Elkind
PublisherInternational Joint Conferences on Artificial Intelligence
Pages5494-5502
Number of pages9
ISBN (Electronic)9781956792034
DOIs
StatePublished - 2023
Event32nd International Joint Conference on Artificial Intelligence, IJCAI 2023 - Macao, China
Duration: 19 Aug 202325 Aug 2023

Publication series

NameIJCAI International Joint Conference on Artificial Intelligence
Volume2023-August
ISSN (Print)1045-0823

Conference

Conference32nd International Joint Conference on Artificial Intelligence, IJCAI 2023
Country/TerritoryChina
CityMacao
Period19/08/2325/08/23

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