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App. Res. of Comp. Accepted Paper
Vol. 42, 2025 No. 5

Multi-robot social formation navigation based on intrinsic reward mechanism

Liu Wei1,2
Fu Hao1,2
Zhou Shuai1,2
1. School of Computer Science & Technology, Wuhan University of Science & Technology, Wuhan 430081, Hubei, China
2. Hubei Province Key Laboratory of Intelligent Information Processing & Real-time Industrial System, Wuhan 430081, Hubei, China.
DOI: 10.19734/j.issn.1001-3695.2024.10.0429

Abstract

To address the issue of relative over-generalization in multi-robot social formation navigation, this paper proposed multi-robot social formation navigation algorithms based on an intrinsic reward mechanism by encouraging robots to explore the joint observation space. Firstly, the algorithms combined random network distillation intrinsic rewards with elliptical episode intrinsic rewards to form double-timescale intrinsic rewards, enhancing the exploration capabilities of multiple robots and thereby obtaining an optimal joint strategy for the multi-robot system. Secondly, this paper combined the design of internal and external rewards with a CTDE (Centralized Training with Decentralized Execution) framework and adopted a centralized intrinsic reward learning approach to encourage multiple robots to explore the joint observation space, thereby overcoming the relative over-generalization issue in multi-robot social formation navigation. Finally, this paper established an evaluation mechanism for multi-robot social formation navigation through comparative simulation experiments between the proposed algorithm and baseline algorithms, followed by relevant quantitative and qualitative analyses. The experimental results showed that, in terms of both quantitative and qualitative evaluation, such as success rate, collision rate, navigation time, and formation error, the proposed algorithm outperformed the baseline algorithm. Compared to existing multi-robot social formation navigation algorithms, the proposed algorithm achieves better formation navigation performance.

Foundation Support

国家自然科学基金资助项目(62303357,62173262)
湖北省自然科学基金资助项目(2023AFB109)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2024.10.0429
Publish at: Application Research of Computers Accepted Paper, Vol. 42, 2025 No. 5

Publish History

[2025-03-06] Accepted Paper

Cite This Article

刘伟, 符浩, 周帅. 基于内在奖励机制的多机器人社交编队导航 [J]. 计算机应用研究, 2025, 42 (5). (2025-03-06). https://doi.org/10.19734/j.issn.1001-3695.2024.10.0429. (Liu Wei, Fu Hao, Zhou Shuai. Multi-robot social formation navigation based on intrinsic reward mechanism [J]. Application Research of Computers, 2025, 42 (5). (2025-03-06). https://doi.org/10.19734/j.issn.1001-3695.2024.10.0429. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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