{"id":"https://openalex.org/W7167047756","doi":"https://doi.org/10.48550/arxiv.2607.00160","title":"Distributed Multi Robot Lunar Cargo Transportation via Phase Decomposed Reinforcement Learning","display_name":"Distributed Multi Robot Lunar Cargo Transportation via Phase Decomposed Reinforcement Learning","publication_year":2026,"publication_date":"2026-06-30","ids":{"openalex":"https://openalex.org/W7167047756","doi":"https://doi.org/10.48550/arxiv.2607.00160"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.00160","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.00160","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2607.00160","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139878588","display_name":"Ashutosh Mishra","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mishra, Ashutosh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120061933","display_name":"Elian Neppel","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Neppel, Elian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010667906","display_name":"Shreya Santra","orcid":"https://orcid.org/0000-0002-5833-456X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Santra, Shreya","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139930977","display_name":"Antoine Jonqui\u00e8res","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jonqui\u00e8res, Antoine","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139900442","display_name":"Muhammad Athallah Naufal","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Naufal, Muhammad Athallah","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036073232","display_name":"Kentaro Uno","orcid":"https://orcid.org/0000-0002-2647-2124"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Uno, Kentaro","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139905220","display_name":"Kazuya Yoshida","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yoshida, Kazuya","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.6180999875068665,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.6180999875068665,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.15970000624656677,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.1071000024676323,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7196000218391418},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5605999827384949},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.5579000115394592},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5551999807357788},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5055000185966492},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.4912000000476837},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.4521999955177307},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4205999970436096},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4117000102996826},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.4025000035762787}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7196000218391418},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5605999827384949},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.5579000115394592},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5551999807357788},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5135999917984009},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5055000185966492},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.4912000000476837},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.4521999955177307},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4244999885559082},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4205999970436096},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4117000102996826},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4025000035762787},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39649999141693115},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.3781000077724457},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37209999561309814},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.366100013256073},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.35839998722076416},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3547999858856201},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.34929999709129333},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3488999903202057},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.34630000591278076},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3452000021934509},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.3382999897003174},{"id":"https://openalex.org/C167740415","wikidata":"https://www.wikidata.org/wiki/Q2876213","display_name":"Aerospace","level":2,"score":0.32989999651908875},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.32760000228881836},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3197000026702881},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.3172999918460846},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3133000135421753},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3102000057697296},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2939000129699707},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.289000004529953},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.2872999906539917},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2775999903678894},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2745000123977661},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.2678000032901764},{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.26589998602867126},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.265500009059906},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.25999999046325684},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.25699999928474426}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.00160","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.00160","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2607.00160","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.00160","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.5733103156089783,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Modular":[0],"reconfigurable":[1],"robotic":[2,50],"systems":[3],"provide":[4],"a":[5,39,64,107,132],"scalable":[6],"solution":[7],"for":[8,44,81,87],"cooperative":[9,17,45,141],"surface":[10],"operations":[11],"in":[12,98,124,146],"future":[13],"lunar":[14],"missions.":[15],"However,":[16],"cargo":[18,46],"transportation":[19],"remains":[20],"challenging":[21],"due":[22],"to":[23],"morphology-dependent":[24],"topology":[25],"changes,":[26],"strong":[27],"payload-induced":[28],"coupling,":[29],"long-horizon":[30],"decision":[31],"making,":[32],"and":[33,59,83,90,106,114,126,149],"safety":[34],"constraints.":[35],"This":[36],"paper":[37],"proposes":[38],"phase-decomposed":[40],"reinforcement":[41],"learning":[42],"framework":[43,121],"transport":[47,142],"with":[48,63],"distributed":[49],"units.":[51],"The":[52,120],"task":[53],"is":[54,122],"decomposed":[55],"into":[56],"lifting,":[57],"transportation,":[58],"placement,":[60],"each":[61],"optimized":[62],"dedicated":[65],"joint-state":[66],"policy":[67],"capturing":[68],"inter-agent":[69],"coupling.":[70],"Centralized":[71],"training":[72],"promotes":[73],"stable":[74],"convergence,":[75],"while":[76],"deployment":[77],"uses":[78],"onboard":[79],"proprioception":[80],"control":[82],"OptiTrack":[84],"motion":[85],"capture":[86],"ground-truth":[88],"evaluation":[89],"post-processed":[91],"metrics.":[92],"A":[93],"deterministic":[94],"phase":[95],"controller":[96],"expressed":[97],"Markov":[99],"state":[100],"representation":[101],"regulates":[102],"transitions":[103],"between":[104],"stages,":[105],"failure-sensitive":[108],"synchronization":[109],"mechanism":[110],"ensures":[111],"coordinated":[112],"progression":[113],"safety-aware":[115],"halting":[116],"during":[117],"real-world":[118],"execution.":[119],"evaluated":[123],"simulation":[125,148],"through":[127],"controlled":[128],"field":[129],"experiments":[130],"at":[131],"JAXA":[133],"space":[134],"exploration":[135],"test":[136],"facility.":[137],"Results":[138],"demonstrate":[139],"reliable":[140],"across":[143],"all":[144],"stages":[145],"both":[147],"hardware":[150],"experiments.":[151]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-03T00:00:00"}