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Related Experiment Video

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Methodology for Establishing a Community-Wide Life Laboratory for Capturing Unobtrusive and Continuous Remote Activity and Health Data

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Decentralized Policy Coordination in Mobile Sensing with Consensual Communication.

Bolei Zhang^1,2, Lifa Wu¹, Ilsun You³

¹School of Computer, Nanjing University of Posts and Telecommunications, Nanjing 210023, China.

Sensors (Basel, Switzerland)

|December 23, 2022

Summary

Cooperative mobile sensing uses multi-agent reinforcement learning with consensual communication. This framework enables decentralized vehicles to share information, improving coordination and environmental coverage.

Keywords:

communication decentralized coordination mobile sensing reinforcement learning

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Area of Science:

Robotics
Artificial Intelligence
Distributed Systems

Background:

Cooperative mobile sensing requires autonomous vehicles to navigate and cover environments.
Decentralized navigation decisions based on local observations pose coordination challenges in dynamic environments.

Purpose of the Study:

To propose a novel framework for cooperative mobile sensing using consensual communication in multi-agent reinforcement learning.
To enhance coordination among decentralized vehicles by enabling information sharing.

Main Methods:

Vehicles learn to communicate and then navigate based on received messages.
Mutual information is used as a regularizer to promote consensus among vehicles.
Theoretical convergence is proven under mild assumptions.

Main Results:

The proposed algorithm is scalable and converges quickly during training.
The algorithm significantly outperforms baseline methods in the execution phase.
Consensual communication is shown to be crucial for coordinating decentralized vehicle behaviors.

Conclusions:

The framework effectively addresses the challenge of coordinating decentralized vehicles in mobile sensing.
Consensual communication enhances spatial-temporal coverage by enabling information sharing.
The approach offers a promising direction for future research in cooperative autonomous systems.