Graph Neural Networks for Decentralized Controllers

Fernando Gama, Ekaterina Tolstaya, Alejandro Ribeiro

Published 2020-03-23Version 1

Dynamical systems comprised of autonomous agents arise in many relevant problems such as multi-agent robotics, smart grids, or smart cities. Controlling these systems is of paramount importance to guarantee a successful deployment. Optimal centralized controllers are readily available but face limitations in terms of scalability and practical implementation. Optimal decentralized controllers, on the other hand, are difficult to find. In this paper, we use graph neural networks (GNNs) to learn decentralized controllers from data. GNNs are well-suited for the task since they are naturally distributed architectures. Furthermore, they are equivariant and stable, leading to good scalability and transferability properties. The problem of flocking is explored to illustrate the power of GNNs in learning decentralized controllers.