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With Webots running on different connected computing systems, we show how mobile agents can perform the task of Decentralized Federated Reinforcement Learning (dFRL). Using Webots, a popular free open-source robot simulator, and Tartarus, a mobile agent platform, we present a methodology to decentralize federated learning in a set of connected robots. This paper describes a mobile agent based paradigm to decentralize FL in multi-robot scenarios. When FL is used in conjunction with connected robots serving as devices, a failure of the central controlling entity can lead to a chaotic situation. Such centralized FL techniques suffer from inherent problems such as failure of the central node and bottlenecks in channel bandwidth. FL techniques generally use a central server or cloud for aggregating the models received from the devices. It is now the main commercial product available from Cyberbotics Ltd.įederated Learning (FL) allows for collaboratively aggregating learned information across several computing devices and sharing the same amongst them, thereby tackling issues of privacy and the need of huge bandwidth. WebotsTM has been developed in collaboration with the Swiss Federal Institute of Technology in Lausanne, thoroughly tested, well documented and continuously maintained for over 7 years. You can program these robots using your favorite development environment, simulate them and optionally transfer the resulting programs onto your real robots. You can equip each robot with a large number of available sensors and actuators. For each object, you can define a number of properties, such as shape, color, texture, mass, friction, etc. WebotsTM lets you define and modify a complete mobile robotics setup, even several different robots sharing the same environment. The provided robot libraries enable you to transfer your control programs to several commercially available real mobile robots.
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#Webots free download software
develops WebotsTM, a mobile robotics simulation software that provides you with a rapid prototyping environment for modelling, programming and simulating mobile robots.