Runtime Verification-Based Safe MARL for Optimized Safety Policy Generation for Multi-Robot Systems

摘要

The intelligent warehouse is a modern logistics management system that uses technologies like the Internet of Things, robots, and artificial intelligence to realize automated management and optimize warehousing operations. The multi-robot system (MRS) is an important carrier for implementing an intelligent warehouse, which completes various tasks in the warehouse through cooperation and coordination between robots. As an extension of reinforcement learning and a kind of swarm intelligence, MARL (multi-agent reinforcement learning) can effectively create the multi-robot systems in intelligent warehouses. However, MARL-based multi-robot systems in intelligent warehouses face serious safety issues, such as collisions, conflicts, and congestion. To deal with these issues, this paper proposes a safe MARL method based on runtime verification, i.e., an optimized safety policy-generation framework, for multi-robot systems in intelligent warehouses. The framework consists of three stages. In the first stage, a runtime model SCMG (safety-constrained Markov Game) is defined for the multi-robot system at runtime in the intelligent warehouse. In the second stage, rPATL (probabilistic alternating-time temporal logic with rewards) is used to express safety properties, and SCMG is cyclically verified and refined through runtime verification (RV) to ensure safety. This stage guarantees the safety of robots’ behaviors before training. In the third stage, the verified SCMG guides SCPO (safety-constrained policy optimization) to obtain an optimized safety policy for robots. Finally, a multi-robot warehouse (RWARE) scenario is used for experimental evaluation. The results show that the policy obtained by our framework is safer than existing frameworks and includes a certain degree of optimization.