TY - GEN
T1 - Multi-agent routing value iteration network
AU - Sykora, Quinlan
AU - Ren, Mengye
AU - Urtasun, Raquel
N1 - Publisher Copyright:
© 2020 37th International Conference on Machine Learning, ICML 2020. All rights reserved.
PY - 2020
Y1 - 2020
N2 - In this paper we tackle the problem of routing multiple agents in a coordinated manner. This is a complex problem that has a wide range of applications in fleet management to achieve a common goal, such as mapping from a swarm of robots and ride sharing. Traditional methods are typically not designed for realistic environments which contain sparsely connected graphs and unknown traffic, and are often too slow in runtime to be practical. In contrast, we propose a graph neural network based model that is able to perform multi-agent routing based on learned value iteration in a sparsely connected graph with dynamically changing traffic conditions. Moreover, our learned communication module enables the agents to coordinate online and adapt to changes more effectively. We created a simulated environment to mimic realistic mapping performed by autonomous vehicles with unknown minimum edge coverage and traffic conditions; our approach significantly outperforms traditional solvers both in terms of total cost and runtime. We also show that our model trained with only two agents on graphs with a maximum of 25 nodes can easily generalize to situations with more agents and/or nodes. 1.
AB - In this paper we tackle the problem of routing multiple agents in a coordinated manner. This is a complex problem that has a wide range of applications in fleet management to achieve a common goal, such as mapping from a swarm of robots and ride sharing. Traditional methods are typically not designed for realistic environments which contain sparsely connected graphs and unknown traffic, and are often too slow in runtime to be practical. In contrast, we propose a graph neural network based model that is able to perform multi-agent routing based on learned value iteration in a sparsely connected graph with dynamically changing traffic conditions. Moreover, our learned communication module enables the agents to coordinate online and adapt to changes more effectively. We created a simulated environment to mimic realistic mapping performed by autonomous vehicles with unknown minimum edge coverage and traffic conditions; our approach significantly outperforms traditional solvers both in terms of total cost and runtime. We also show that our model trained with only two agents on graphs with a maximum of 25 nodes can easily generalize to situations with more agents and/or nodes. 1.
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M3 - Conference contribution
AN - SCOPUS:85104733594
T3 - 37th International Conference on Machine Learning, ICML 2020
SP - 9242
EP - 9252
BT - 37th International Conference on Machine Learning, ICML 2020
A2 - Daume, Hal
A2 - Singh, Aarti
PB - International Machine Learning Society (IMLS)
T2 - 37th International Conference on Machine Learning, ICML 2020
Y2 - 13 July 2020 through 18 July 2020
ER -