A Scalable Multi-Robot Framework for Decentralized and Asynchronous Perception-Action-Communication Loops

TL;DR

This paper introduces a scalable, asynchronous framework for multi-robot systems that leverages decentralized Graph Neural Networks to enable efficient perception, communication, and action execution in large environments.

Contribution

It presents a novel asynchronous framework utilizing aggregated GNNs for decentralized and efficient perception-action-communication loops in robot swarms.

Findings

Effective navigation of large robot swarms demonstrated

Decentralized GNNs enable asynchronous perception and action

Framework improves scalability and efficiency in large environments

Abstract

Collaboration in large robot swarms to achieve a common global objective is a challenging problem in large environments due to limited sensing and communication capabilities. The robots must execute a Perception-Action-Communication (PAC) loop -- they perceive their local environment, communicate with other robots, and take actions in real time. A fundamental challenge in decentralized PAC systems is to decide what information to communicate with the neighboring robots and how to take actions while utilizing the information shared by the neighbors. Recently, this has been addressed using Graph Neural Networks (GNNs) for applications such as flocking and coverage control. Although conceptually, GNN policies are fully decentralized, the evaluation and deployment of such policies have primarily remained centralized or restrictively decentralized. Furthermore, existing frameworks assume sequential execution of perception and action inference, which is very restrictive in real-world applications. This paper proposes a framework for asynchronous PAC in robot swarms, where decentralized GNNs are used to compute navigation actions and generate messages for communication. In particular, we use aggregated GNNs, which enable the exchange of hidden layer information between robots for computational efficiency and decentralized inference of actions. Furthermore, the modules in the framework are asynchronous, allowing robots to perform sensing, extracting information, communication, action inference, and control execution at different frequencies. We demonstrate the effectiveness of GNNs executed in the proposed framework in navigating large robot swarms for collaborative coverage of large environments.