When Robotics Meets Distributed Learning: the Federated Learning Robotic Network Framework

Abstract

Federated Learning (FL) is a cutting-edge technology for distributed solving of large-scale problems using local data exclusively. The potential of Federated Learning is nowadays clear in different context from automatic analysis of healthcare data to object recognition in video sources coming from public video streams, from distributed search for data breach and finance frauds to collaborative learning of hand typing on mobile phone. Multi-robot systems can also largely benefit from FL concerning resolution of problems like trajectory prediction, non colliding trajectory generation, distributed localization and mapping or distributed reinforcement learning. In this paper we propose a multi-robot framework that includes distributed learning capabilities by using Decentralized Stochastic Gradient Descent on graphs. First of all we motivate the position of the paper discussing the privacy preserving problem for multi robot systems and the need of decentralized learning. Then we build our methodology starting from a set of prior definitions. Finally we discuss in details the possible applications in robotics field.