A multi-robot deep Q-learning framework for priority-based sanitization of railway stations.

ABSTRACT

Sanitizing railway stations is a relevant issue, primarily due to the recent evolution of the Covid-19 pandemic. In this work, we propose a multi-robot approach to sanitize railway stations based on a distributed Deep Q-Learning technique. The proposed framework relies on anonymous data from existing WiFi networks to dynamically estimate crowded areas within the station and to develop a heatmap of prioritized areas to be sanitized. Such heatmap is then provided to a team of cleaning robots - each endowed with a robot-specific convolutional neural network - that learn how to effectively cooperate and sanitize the station's areas according to the associated priorities. The proposed approach is evaluated in a realistic simulation scenario provided by the Italian largest railways station Roma Termini. In this setting, we consider different case studies to assess how the approach scales with the number of robots and how the trained system performs with a real dataset retrieved from a one-day data recording of the station's WiFi network.