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Bandwidth-limited Multi-Robot Exploration

Public code of Privileged Reinforcement and Communication Learning for Distributed, Bandwidth-limited Multi-Robot Exploration, which is accepted by DARS 2024.
This framework is extended form ARiADNE

Run

Dependencies

  • python == 3.8
  • pytorch == 2.3.1
  • ray == 2.10.0
  • scikit-image == 0.21.0
  • scikit-learn == 1.3.2
  • scipy == 1.10.1
  • matplotlib == 3.7.5
  • tensorboard == 2.14.0

Training

  1. Set training parameters in parameters.py.
  2. Run python driver.py

Evaluation

  1. Set parameters in test_parameters.py.
  2. Run test_driver.py

Demo




Authors

Yixiao Ma
Jingsong Liang
Yuhong Cao
Derek Ming Siang Tan
Guillaume Sartoretti