GLAS: Global-to-Local Safe Autonomy Synthesis for Multi-Robot Motion Planning with End-to-End Learning

Abstract

We present GLAS: Global-to-Local Autonomy Synthesis, a provably-safe, automated distributed policy generation for multi-robot motion planning. Our approach combines the advantage of centralized planning of avoiding local minima with the advantage of decentralized controllers of scalability and distributed computation. In particular, our synthesized policies only require relative state information of nearby neighbors and obstacles, and compute a provably-safe action. Our approach has three major components: i) we generate demonstration trajectories using a global planner and extract local observations from them, ii) we use deep imitation learning to learn a decentralized policy that can run efficiently online, and iii) we introduce a novel differentiable safety module to ensure collision-free operation, thereby allowing for end-to-end policy training. Our numerical experiments demonstrate that our policies have a 20% higher success rate than optimal reciprocal collision avoidance, ORCA, across a wide range of robot and obstacle densities. We demonstrate our method on an aerial swarm, executing the policy on low-end microcontrollers in real-time.

arXiv commentAccepted at IEEE RA-L, see DOI below

References in corpus (2)

• PRIMAL: Pathfinding via Reinforcement and Imitation Multi-Agent Learning
• Trajectory Generation for Multiagent Point-To-Point Transitions via Distributed Model Predictive Control

Cited by in corpus (7)

• Contraction Theory for Nonlinear Stability Analysis and Learning-based Control: A Tutorial Overview
• Learning Efficient Navigation in Vortical Flow Fields
• A Neural Network Approach for High-Dimensional Optimal Control Applied to Multi-Agent Path Finding
• Learning-based Robust Motion Planning with Guaranteed Stability: A Contraction Theory Approach
• A Neural Network Approach Applied to Multi-Agent Optimal Control
• Monte Carlo Tree Search with Spectral Expansion for Planning with Dynamical Systems
• Neural-Rendezvous: Provably Robust Guidance and Control to Encounter Interstellar Objects