Multi-Agent Reinforcement Learning for Autonomous On Demand Vehicles
30th IEEE Intelligent Vehicles Symposium (IV), Paris, France, 9 - 12 June 2019, pp.1461-1468, (Full Text)
- Publication Type: Conference Paper / Full Text
- Volume:
- Doi Number: 10.1109/ivs.2019.8813876
- City: Paris
- Country: France
- Page Numbers: pp.1461-1468
- Galatasaray University Affiliated: Yes
Abstract
In this study, we elaborate the procedure of designing a supervisory controller for the Autonomous Transit on Demand Vehicle (ATODV) system. Reinforcement learning is implemented to reduce the mean waiting time of the passengers, and a cost function is introduced to penalize the energy consumption of the electric vehicles. A stochastic simulation environment for an ATODV pilot project is coded in the Python environment to train the autonomous cart decision process as agents with artificial intelligence. Passenger group behavior, get-on and getoff times, destinations are modeled as random variables. A single Deep Q-Learning Network is trained subject to multi-agent settings. The ATODV system's independent decision making for the carts to reduce the passenger's waiting time while constraining the energy consumption and empty vehicle motion is evaluated.