Biography

I am pursuing my master degree in College of Control Engineering, Zhejiang University, Hangzhou, China. My major research interest is Reinforcement learning, Multi-agent cooperation and Path Planning.

Research and Interests

• Multi-agent cooperation
• Path Planning
• Reinforcement learning

Publications

• Helei Yang, Peng Ge, Junjie Cao, Yifan Yang, and Yong Liu. Large Scale Pursuit-Evasion Under Collision Avoidance Using Deep Reinforcement Learning. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 2232-2239, 2023.
  [BibTeX] [Abstract] [DOI] [PDF]

  This paper examines a pursuit-evasion game (PEG) involving multiple pursuers and evaders. The decentralized pursuers aim to collaborate to capture the faster evaders while avoiding collisions. The policies of all agents are learning-based and are subjected to kinematic constraints that are specific to unicycles. To address the challenge of high dimensionality encountered in large-scale scenarios, we propose a state processing method named Mix-Attention, which is based on Self-Attention. This method effectively mitigates the curse of dimensionality. The simulation results provided in this study demonstrate that the combination of Mix-Attention and Independent Proximal Policy Optimization (IPPO) surpasses alternative approaches when solving the multi-pursuer multi-evader PEG, particularly as the number of entities increases. Moreover, the trained policies showcase their ability to adapt to scenarios involving varying numbers of agents and obstacles without requiring retraining. This adaptability showcases their transferability and robustness. Finally, our proposed approach has been validated through physical experiments conducted with six robots.

  @inproceedings{yang2023lsp,
  title = {Large Scale Pursuit-Evasion Under Collision Avoidance Using Deep Reinforcement Learning},
  author = {Helei Yang and Peng Ge and Junjie Cao and Yifan Yang and Yong Liu},
  year = 2023,
  booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {2232-2239},
  doi = {10.1109/IROS55552.2023.10341975},
  abstract = {This paper examines a pursuit-evasion game (PEG) involving multiple pursuers and evaders. The decentralized pursuers aim to collaborate to capture the faster evaders while avoiding collisions. The policies of all agents are learning-based and are subjected to kinematic constraints that are specific to unicycles. To address the challenge of high dimensionality encountered in large-scale scenarios, we propose a state processing method named Mix-Attention, which is based on Self-Attention. This method effectively mitigates the curse of dimensionality. The simulation results provided in this study demonstrate that the combination of Mix-Attention and Independent Proximal Policy Optimization (IPPO) surpasses alternative approaches when solving the multi-pursuer multi-evader PEG, particularly as the number of entities increases. Moreover, the trained policies showcase their ability to adapt to scenarios involving varying numbers of agents and obstacles without requiring retraining. This adaptability showcases their transferability and robustness. Finally, our proposed approach has been validated through physical experiments conducted with six robots.}
  }