工場におけるマルチエージェントのタスク割り当てとナビゲーションの学習：シミュレーションから実機ロボットへ
Learning Multi-Agent Task Assignment and Navigation in the Factory: from Simulation to Real Robots
LiDARとタスク情報を融合する分散型マルチエージェント強化学習FMAPPOを提案し、シミュレーションからROS2経由で実機の移動マニピュレータに展開して、工場での部品配送・回収と機械稼働率を改善した。
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著者: Abdalwhab Bakheet Mohamed Abdalwhab, Giovanni Beltrame, David St-Onge
分類: cs.RO, cs.LG
原文アブストラクト
Reinforcement learning (RL) has shown considerable promise for robotic decision-making, yet deploying multi-agent RL (MARL) on physical multi-robot systems in industrial environments remains challenging. This paper investigates the real-world applicability of decentralized MARL for multi-robot multi-machine tending. We propose Feature-fusion Multi-Agent Proximal Policy Optimization (FMAPPO), which fuses 2D LiDAR measurements with task-specific state information to enable safe decentralized multi-robot task assignment and navigation. A complete simulation-to-reality pipeline was developed using high-fidelity robotic simulation and ROS2 and deployed on physical mobile-manipulator platforms operating under realistic real-world conditions, with the robotic arms disabled during the experiments. We further investigate the sensitivity of the learned policy to command update frequency, an important consideration for real-world deployment. Comparative evaluation in simulation demonstrated that FMAPPO significantly outperformed state-of-the-art baselines with a large effect size, achieving improvements of 106\% and 21\% in parts delivery and 48\% and 11\% in parts collection over MAPPO and SMAPPO, respectively. FMAPPO also increased machine utilization by 31 and 10 percentage points, respectively, while reducing collisions by 18\% and 15\% and increasing the safety score by 14 and 6 percentage points compared with MAPPO and SMAPPO, respectively. Furthermore, real-world experiments demonstrated that the learned decentralized policies can coordinate multiple robots to service multiple machines while maintaining safe operation under real-world sensing and control constraints. Videos of the real-world experiment are available online https://anonymouspapers123.github.io/FMAPPO/.