Federated deep reinforcement learning for mobile robot navigation

Article type: Research Article

Authors: Shivkumar, S.^{; *} | Amudha, J. | Nippun Kumaar, A.A.

Affiliations: Department of Computer Science and Engineering, Amrita School of Computing, Bengaluru, Amrita Vishwa Vidyapeetham, India

Correspondence: [*] Corresponding author. S. Shivkumar. E-mail: [email protected].

Abstract: Navigation of a mobile robot in an unknown environment ensuring the safety of the robot and its surroundings is of utmost importance. Traditional methods, such as pathplanning algorithms, simultaneous localization and mapping, computer vision, and fuzzy techniques, have been employed to address this challenge. However, to achieve better generalization and self-improvement capabilities, reinforcement learning has gained significant attention. The concern of privacy issues in sharing data is also rising in various domains. In this study, a deep reinforcement learning strategy is applied to the mobile robot to move from its initial position to a destination. Specifically, the Deep Q-Learning algorithm has been used for this purpose. This strategy is trained using a federated learning approach to overcome privacy issues and to set a foundation for further analysis of distributed learning. The application scenario considered in this work involves the navigation of a mobile robot to a charging point within a greenhouse environment. The results obtained indicate that both the traditional deep reinforcement learning and federated deep reinforcement learning frameworks are providing 100% success rate. However federated deep reinforcement learning could be a better alternate since it overcomes the privacy issue along with other advantages discussed in this paper.

Keywords: Federated deep reinforcement learning, navigation, path-planning, mobile robot, robotics

DOI: 10.3233/JIFS-219428

Journal: Journal of Intelligent & Fuzzy Systems, vol. Pre-press, no. Pre-press, pp. 1-16, 2024