Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Learning Decentralized Controllers for Robot Swarms with Graph Neural
  Networks   We consider the problem of finding distributed controllers for large networks
of mobile robots with interacting dynamics and sparsely available
communications. Our approach is to learn local controllers that require only
local information and communications at test time by imitating the policy of
centralized controllers using global information at training time. By extending
aggregation graph neural networks to time varying signals and time varying
network support, we learn a single common local controller which exploits
information from distant teammates using only local communication interchanges.
We apply this approach to the problem of flocking to demonstrate performance on
communication graphs that change as the robots move. We examine how a
decreasing communication radius and faster velocities increase the value of
multi-hop information.

8
The categories of this paper are: hep-ex
23
The categories of this paper are: solv-int
28
The categories of this paper are: alg-geom
21
The categories of this paper are: adap-org
25
The categories of this paper are: patt-sol
36
The categories of this paper are: cmp-lg
30
The categories of this paper are: q-alg
33
The categories of this paper are: plasm-ph
17
The categories of this paper are: q-fin
35
The categories of this paper are: mtrl-th
10
The categories of this paper are: q-bio
9
The categories of this paper are: nlin
29
The categories of this paper are: funct-an
7
The categories of this paper are: hep-th
37
The categories of this paper are: supr-con
16
The categories of this paper are: stat