複数巡回USVの逐次ランデブー計画のためのグラフベース強化学習
Graph-Based RL for Sequential Rendezvous Planning with Multiple Patrolling USVs
海流と旋回制約を考慮した経路計画と、実現可能遷移グラフ上のグラフニューラルネット強化学習を組み合わせ、複数巡回USVへの逐次ランデブー順序を優先度・期限付きで最適化した研究。
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著者: Seung Woo Han, Hyeon Bin Yeo, Seung Heon Oh
分類: cs.RO, cs.AI
原文アブストラクト
In patrol missions involving multiple unmanned surface vehicles (USVs), a designated command USV can support fleet management by sequentially rendezvousing with each patrolling USV. These operations require motion-feasible route planning and priority-aware rendezvous sequencing, with the objective of minimizing mission completion time and total tardiness relative to priority-dependent due dates. We propose a framework combining grid-based path planning, surrogate travel-time prediction, and graph-based reinforcement learning. The path planner accounts for ocean currents and approximates turn-rate constraints through multi-stage maneuvers, with path feasibility empirically validated through trajectory-tracking simulations. For rendezvous sequencing, a Feasible Transition Graph (FTG) represents candidate rendezvous events and temporally feasible transitions, enabling a graph neural network to exploit spatiotemporal rendezvous relationships for policy learning. A surrogate predicts travel times from compact current and motion features to avoid repeated path searches during FTG construction and policy training. Evaluation using grid-based path planning shows statistically significant average objective reductions of 10.5%, 3.5%, and 1.5% compared with greedy, MLP-RL, and 2-step lookahead greedy, respectively. The policy achieves these improvements while requiring approximately 1/35 of the latter's computation time. It maintains its advantage over MLP-RL under unseen priority-tier settings, with larger gains as fleet size increases.