JRM Vol.35 No.4 pp. 977-987
doi: 10.20965/jrm.2023.p0977


Generating Collective Behavior of a Multi-Legged Robotic Swarm Using Deep Reinforcement Learning

Daichi Morimoto*, Yukiha Iwamoto*, Motoaki Hiraga** ORCID Icon, and Kazuhiro Ohkura* ORCID Icon

*Graduate School of Advanced Science and Engineering, Hiroshima University
1-4-1 Kagamiyama, Higashi-hiroshima, Hiroshima 739-8527, Japan

**Faculty of Mechanical Engineering, Kyoto Institute of Technology
Goshokaido-cho, Matsugasaki, Sakyo-ku, Kyoto 606-8585, Japan

January 30, 2023
April 24, 2023
August 20, 2023
swarm robotics, multi-legged robot, proximal policy optimization, multi-agent reinforcement learning

This paper presents a method of generating collective behavior of a multi-legged robotic swarm using deep reinforcement learning. Most studies in swarm robotics have used mobile robots driven by wheels. These robots can operate only on relatively flat surfaces. In this study, a multi-legged robotic swarm was employed to generate collective behavior not only on a flat field but also on rough terrain fields. However, designing a controller for a multi-legged robotic swarm becomes a challenging problem because it has a large number of actuators than wheeled-mobile robots. This paper applied deep reinforcement learning to designing a controller. The proximal policy optimization (PPO) algorithm was utilized to train the robot controller. The controller was trained through the task that required robots to walk and form a line. The results of computer simulations showed that the PPO led to the successful design of controllers for a multi-legged robotic swarm in flat and rough terrains.

The coordinated motion of a multi-legged robotic swarm

The coordinated motion of a multi-legged robotic swarm

Cite this article as:
D. Morimoto, Y. Iwamoto, M. Hiraga, and K. Ohkura, “Generating Collective Behavior of a Multi-Legged Robotic Swarm Using Deep Reinforcement Learning,” J. Robot. Mechatron., Vol.35 No.4, pp. 977-987, 2023.
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Last updated on Sep. 29, 2023