End-to-end decentralized formation control using a graph neural network-based learning method

Multi-robot cooperative control has been extensively studied using model-based distributed control methods. However, such control methods rely on sensing and perception modules in a sequential pipeline design, and the separation of perception and controls may cause processing latencies and compoundi...

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Bibliographic Details

Published in:	Frontiers in Robotics and AI
Main Authors:	Chao Jiang, Xinchi Huang, Yi Guo
Format:	Article
Language:	English
Published:	Frontiers Media S.A. 2023-11-01
Subjects:	distributed multi-robot control multi-robot learning graph neural network formation control and coordination autonomous robots
Online Access:	https://www.frontiersin.org/articles/10.3389/frobt.2023.1285412/full