Learning Decentralized Controllers for Robot Swarms with Graph Neural Networks

25 March 2019

Ekaterina V. Tolstaya

George Pappas

Alejandro Ribeiro

Papers citing "Learning Decentralized Controllers for Robot Swarms with Graph Neural Networks"

50 / 104 papers shown

Title
Distributed neural network control with dependability guarantees: a compositional port-Hamiltonian approach Luca Furieri C. Galimberti M. Zakwan Giancarlo Ferrari-Trecate 26 20 0 16 Dec 2021
Robust Graph Neural Networks via Probabilistic Lipschitz Constraints R. Arghal E. Lei Shirin Saeedi Bidokhti 11 19 0 14 Dec 2021
A General Auxiliary Controller for Multi-agent Flocking Jinfan Zhou Jiyu Cheng Lin Zhang Wei Emma Zhang 17 0 0 11 Dec 2021
Federated Reinforcement Learning at the Edge Konstantinos Gatsis FedML 21 5 0 11 Dec 2021
Transferability Properties of Graph Neural Networks Luana Ruiz Luiz F. O. Chamon Alejandro Ribeiro GNN 24 41 0 09 Dec 2021
The Power of Communication in a Distributed Multi-Agent System P. D. Siedler 20 3 0 30 Nov 2021
A Framework for Real-World Multi-Robot Systems Running Decentralized GNN-Based Policies J. Blumenkamp Steven D. Morad Jennifer Gielis Qingbiao Li Amanda Prorok 24 47 0 02 Nov 2021
Distributionally Robust Semi-Supervised Learning Over Graphs A. Sadeghi Meng Ma Bingcong Li G. Giannakis OOD 22 13 0 20 Oct 2021
Stability of Neural Networks on Manifolds to Relative Perturbations Zhiyang Wang Luana Ruiz Alejandro Ribeiro 21 13 0 10 Oct 2021
Space-Time Graph Neural Networks Samar Hadou Charilaos I. Kanatsoulis Alejandro Ribeiro AI4TS 20 17 0 06 Oct 2021
Coverage Control in Multi-Robot Systems via Graph Neural Networks W. Gosrich Siddharth Mayya Rebecca Li James Paulos Mark H. Yim Alejandro Ribeiro Vijay R. Kumar 55 24 0 30 Sep 2021
Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems Amanda Prorok Matthew Malencia Luca Carlone Gaurav Sukhatme Brian M. Sadler Vijay R. Kumar 97 53 0 25 Sep 2021
Decentralized Control of Quadrotor Swarms with End-to-end Deep Reinforcement Learning S. Batra Zhehui Huang Aleksei Petrenko T. Kumar Artem Molchanov Gaurav Sukhatme 16 47 0 16 Sep 2021
Learning to Swarm with Knowledge-Based Neural Ordinary Differential Equations Tom Z. Jiahao Lishuo Pan M. A. Hsieh 50 11 0 10 Sep 2021
Optimal Solving of Constrained Path-Planning Problems with Graph Convolutional Networks and Optimized Tree Search Kevin Osanlou Andrei Bursuc Christophe Guettier Tristan Cazenave Éric Jacopin GNN AI4CE 20 11 0 02 Aug 2021
The Holy Grail of Multi-Robot Planning: Learning to Generate Online-Scalable Solutions from Offline-Optimal Experts Amanda Prorok J. Blumenkamp Qingbiao Li Ryan Kortvelesy Zhe Liu Ethan Stump OffRL 21 5 0 26 Jul 2021
Wide and Deep Graph Neural Network with Distributed Online Learning Zhan Gao Fernando Gama Alejandro Ribeiro GNN 42 26 0 19 Jul 2021
Scalable Perception-Action-Communication Loops with Convolutional and Graph Neural Networks Ting-Kuei Hu Fernando Gama Tianlong Chen Wenqing Zheng Zhangyang Wang Alejandro Ribeiro Brian M. Sadler GNN 65 18 0 24 Jun 2021
Stability of Graph Convolutional Neural Networks to Stochastic Perturbations Zhangyang Gao Elvin Isufi Alejandro Ribeiro GNN 16 23 0 19 Jun 2021
Learning by Transference: Training Graph Neural Networks on Growing Graphs J. Cerviño Luana Ruiz Alejandro Ribeiro GNN 20 18 0 07 Jun 2021
Graph Neural Networks for Decentralized Multi-Robot Submodular Action Selection Lifeng Zhou V. Sharma Qingbiao Li Amanda Prorok Alejandro Ribeiro Pratap Tokekar Vijay R. Kumar 22 23 0 18 May 2021
Multi-Robot Coordination and Planning in Uncertain and Adversarial Environments Lifeng Zhou Pratap Tokekar 34 43 0 02 May 2021
Communication Topology Co-Design in Graph Recurrent Neural Network Based Distributed Control Feng Yang Nikolai Matni 25 14 0 28 Apr 2021
Decentralized Inference with Graph Neural Networks in Wireless Communication Systems Mengyuan Lee Guanding Yu H. Dai GNN 37 39 0 19 Apr 2021
Online Flocking Control of UAVs with Mean-Field Approximation Malintha Fernando 8 12 0 28 Mar 2021
ModGNN: Expert Policy Approximation in Multi-Agent Systems with a Modular Graph Neural Network Architecture Ryan Kortvelesy Amanda Prorok 37 24 0 24 Mar 2021
Learning Connectivity for Data Distribution in Robot Teams Ekaterina V. Tolstaya Landon Butler Daniel Mox James Paulos Vijay R. Kumar Alejandro Ribeiro 14 10 0 08 Mar 2021
Neurosymbolic Transformers for Multi-Agent Communication J. Inala Yichen Yang James Paulos Yewen Pu Osbert Bastani Vijay R. Kumar Martin Rinard Armando Solar-Lezama 24 24 0 05 Jan 2021
Synthesizing Decentralized Controllers with Graph Neural Networks and Imitation Learning Fernando Gama Qingbiao Li Ekaterina V. Tolstaya Amanda Prorok Alejandro Ribeiro AI4CE 40 28 0 29 Dec 2020
Decentralized and Communication-Free Multi-Robot Navigation through Distributed Games Brian Reily Terran Mott Hao Zhang 14 0 0 17 Dec 2020
Neural-Swarm2: Planning and Control of Heterogeneous Multirotor Swarms using Learned Interactions Guanya Shi Wolfgang Hönig Xichen Shi Yisong Yue Soon-Jo Chung 23 70 0 10 Dec 2020
Gaussian Process Based Message Filtering for Robust Multi-Agent Cooperation in the Presence of Adversarial Communication Rupert Mitchell J. Blumenkamp Amanda Prorok AAML 31 24 0 01 Dec 2020
Message-Aware Graph Attention Networks for Large-Scale Multi-Robot Path Planning Qingbiao Li Weizhe Lin Zhe Liu Amanda Prorok 24 130 0 26 Nov 2020
Multi-Robot Coverage and Exploration using Spatial Graph Neural Networks Ekaterina V. Tolstaya James Paulos Vijay R. Kumar Alejandro Ribeiro 13 58 0 02 Nov 2020
Discriminability of Single-Layer Graph Neural Networks Samuel Pfrommer Fernando Gama Alejandro Ribeiro 34 10 0 17 Oct 2020
Multi-Agent Motion Planning using Deep Learning for Space Applications K. Yun Changrak Choi R. Alimo A. Davis Linda Forster A. Rahmani Muhammad Adil Ramtin Madani 6 10 0 15 Oct 2020
The Emergence of Adversarial Communication in Multi-Agent Reinforcement Learning J. Blumenkamp Amanda Prorok AAML AI4CE 16 59 0 06 Aug 2020
Graph Neural Networks: Architectures, Stability and Transferability Luana Ruiz Fernando Gama Alejandro Ribeiro GNN 47 122 0 04 Aug 2020
ForMIC: Foraging via Multiagent RL with Implicit Communication Samuel Shaw Emerson Wenzel Alexis Walker Guillaume Sartoretti OffRL 6 7 0 15 Jun 2020
Wide and Deep Graph Neural Networks with Distributed Online Learning Zhan Gao Fernando Gama Alejandro Ribeiro GNN 35 10 0 11 Jun 2020
Stochastic Graph Neural Networks Zhan Gao Elvin Isufi Alejandro Ribeiro 14 1 0 04 Jun 2020
Learning Distributed Controllers for V-Formation Shouvik Roy Usama Mehmood Radu Grosu S. Smolka Scott D. Stoller A. Tiwari 14 2 0 01 Jun 2020
Graph Neural Networks for Decentralized Controllers Fernando Gama Ekaterina V. Tolstaya Alejandro Ribeiro AI4CE 32 32 0 23 Mar 2020
Graphs, Convolutions, and Neural Networks: From Graph Filters to Graph Neural Networks Fernando Gama Elvin Isufi G. Leus Alejandro Ribeiro GNN 28 150 0 08 Mar 2020
VGAI: End-to-End Learning of Vision-Based Decentralized Controllers for Robot Swarms Ting-Kuei Hu Fernando Gama Tianlong Chen Zhangyang Wang Alejandro Ribeiro Brian M. Sadler SSL 14 4 0 06 Feb 2020
Gated Graph Recurrent Neural Networks Luana Ruiz Fernando Gama Alejandro Ribeiro GNN 26 139 0 03 Feb 2020
Towards a Kernel based Uncertainty Decomposition Framework for Data and Models Rishabh Singh José C. Príncipe UQCV UD 20 8 0 30 Jan 2020
Graph Neural Networks for Decentralized Multi-Robot Path Planning Qingbiao Li Fernando Gama Alejandro Ribeiro Amanda Prorok 37 247 0 12 Dec 2019
Robust Model Predictive Shielding for Safe Reinforcement Learning with Stochastic Dynamics Shuo Li Osbert Bastani 17 80 0 24 Oct 2019
Stability of Graph Neural Networks to Relative Perturbations Fernando Gama Joan Bruna Alejandro Ribeiro 17 12 0 21 Oct 2019