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arXiv · 2607.00160

Distributed Multi Robot Lunar Cargo Transportation via Phase Decomposed Reinforcement Learning

Ashutosh Mishra·Elian Neppel·Shreya Santra·Antoine Jonquières·Muhammad Athallah Naufal·Kentaro Uno·Kazuya Yoshida
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Abstract

Modular reconfigurable robotic systems provide a scalable solution for cooperative surface operations in future lunar missions. However, cooperative cargo transportation remains challenging due to morphology-dependent topology changes, strong payload-induced coupling, long-horizon decision making, and safety constraints. This paper proposes a phase-decomposed reinforcement learning framework for cooperative cargo transport with distributed robotic units. The task is decomposed into lifting, transportation, and placement, each optimized with a dedicated joint-state policy capturing inter-agent coupling. Centralized training promotes stable convergence, while deployment uses onboard proprioception for control and OptiTrack motion capture for ground-truth evaluation and post-processed metrics. A deterministic phase controller expressed in Markov state representation regulates transitions between stages, and a failure-sensitive synchronization mechanism ensures coordinated progression and safety-aware halting during real-world execution. The framework is evaluated in simulation and through controlled field experiments at a JAXA space exploration test facility. Results demonstrate reliable cooperative transport across all stages in both simulation and hardware experiments.

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Ashutosh Mishra, Elian Neppel, Shreya Santra, Antoine Jonquières, Muhammad Athallah Naufal, Kentaro Uno, Kazuya Yoshida. 2026-06-30. Distributed Multi Robot Lunar Cargo Transportation via Phase Decomposed Reinforcement Learning. https://arxiv.org/abs/2607.00160

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