Learning Decentralized Flocking Controllers with Spatio-Temporal Graph Neural Network

Siji Chen,Yanshen Sun,Peihan Li,Lifeng Zhou,Chang-Tien Lu,Siji Chen,Yanshen Sun,Peihan Li,Lifeng Zhou,Chang-Tien Lu

Recently a line of research has delved into the use of graph neural networks (GNNs) for decentralized control in swarm robotics. However, it has been observed that relying solely on the states of immediate neighbors is insufficient to imitate a centralized control policy. To address this limitation, prior studies proposed incorporating L-hop delayed states into the computation. While this approach...