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December 2, 2025SensorsOpen Access

Graph-Gated Relational Reasoning for Enhanced Coordination and Safety in Distributed Multi-Robot Systems: A Decentralized Reinforcement Learning Approach

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Authors

YMYiping MaShanghai Maritime UniversityJLJunxia LiTaiyuan University of Science and TechnologySHShijie HuangShanghai University of Electric Power

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Implication

Decentralized reinforcement learning improved coverage efficiency in multi-robot systems, indicating effective coordination strategies.

Key Points

  • The GGT approach achieved 95.3% coverage area efficiency with only 0.4 collisions per episode.
  • Ablation studies confirm the importance of structured attention in enhancing coordination.
  • This framework integrates Centralized Training with Decentralized Execution to optimize performance.
  • GGT dynamically constrains attention using relational graphs, promoting robust multi-robot autonomy.

Cite This Study

Ma et al. (2025) studied this question.

synapsesocial.com/papers/6940275a2d562116f28ffc55https://doi.org/10.3390/s25237335
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