JPL Technical Report Server

Multi-Agent Motion Planning using Deep Learning for Space Applications

Show simple item record Yun, Kyongsik Choi, Changrak Alimo, Ryan Davis, Anthony Forster, Linda Rahmani, Amir Adil, Muhammad Madani, Ramtin 2022-04-12T00:02:29Z 2022-04-12T00:02:29Z 2020-11-16
dc.identifier.citation AIAA-ASCEND, Las Vegas, Nevada, November 16-19, 2020
dc.identifier.clearanceno CL#21-1233
dc.description.abstract State-of-the-art motion planners cannot scale to a large number of systems. Motion planning for multiple agents is an NP (non-deterministic polynomial-time) hard problem, so the computation time increases exponentially with each addition of agents. This computational demand is a major stumbling block to the motion planner's application to future NASA missions involving the swarm of space vehicles. We applied a deep neural network to transform computationally demanding mathematical motion planning problems into deep learning-based numerical problems. We showed optimal motion trajectories can be accurately replicated using deep learning-based numerical models in several 2D and 3D systems with multiple agents. The deep learning-based numerical model demonstrates superior computational efficiency with plans generated 1000 times faster than the mathematical model counterpart.
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US
dc.publisher Pasadena, CA: Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2020
dc.title Multi-Agent Motion Planning using Deep Learning for Space Applications
dc.type Preprint

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