Pattern-RL: Multi-robot Cooperative Pattern Formation via Deep Reinforcement Learning

Autonomous, arbitrary pattern formation is one of the most critical applications in multi-robot systems, where robots are required to form into circles, lines, and meshes or any other desired configuration. This task is important in military applications, search and rescue operations, and visual inspection of infrastructure and equipment tasks to name a few. Most existing works are very rigid, and only able to form certain shapes, where slight target changes can cause failure in the predefined pattern-specific rules and trigger algorithm redesign. We propose a novel, deep reinforcement learning-based method that generates general-purpose pattern formation strategies, in the form of deep neural networks (DNN), for any target pattern. Our method uses the trial-and-error feedback of each round of training to gradually generate the pattern formation strategy. Thus, robots are able to query the trained DNN model to select their optimal directions and speeds in a fully distributed manner. Considering that reinforcement learning models do not perform well with large state spaces and highly variant training samples, we employ auto-encoders to learn the condensed representation for each state and compute model-free policy gradients for arbitrary pattern formation. We experimentally show that groups of robots are able to form various general target patterns while minimizing the number of completion time steps.