Paper ID: 2310.12909

Collaborative Adaptation: Learning to Recover from Unforeseen Malfunctions in Multi-Robot Teams

Yasin Findik, Paul Robinette, Kshitij Jerath, S. Reza Ahmadzadeh

Cooperative multi-agent reinforcement learning (MARL) approaches tackle the challenge of finding effective multi-agent cooperation strategies for accomplishing individual or shared objectives in multi-agent teams. In real-world scenarios, however, agents may encounter unforeseen failures due to constraints like battery depletion or mechanical issues. Existing state-of-the-art methods in MARL often recover slowly -- if at all -- from such malfunctions once agents have already converged on a cooperation strategy. To address this gap, we present the Collaborative Adaptation (CA) framework. CA introduces a mechanism that guides collaboration and accelerates adaptation from unforeseen failures by leveraging inter-agent relationships. Our findings demonstrate that CA enables agents to act on the knowledge of inter-agent relations, recovering from unforeseen agent failures and selecting appropriate cooperative strategies.

Submitted: Oct 19, 2023