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Boin et al. Intell Robot 2022;2(2):145­67 I http://dx.doi.org/10.20517/ir.2022.11 Page 155

Algorithm 1: FRL applied to an AV platoon.
for each platoon ∈ do
for ∈ ℎ do
initialize replay buffer ;
initialize actor , critic , target actor , target critic ; 0
0

end
end
for ∈ _ do
for ∈ do
collect all vehicles states , from ;
end
for ∈ _ _ do
for ∈ do
for ∈ ℎ do
collect actions , from actor;
end
advance the platoon , with , ;
collect ( , , , +1 , , , ) from ;
end
for ∈ do
for ∈ ℎ do
add ( , , , +1 , , , ) to replay buffer ;
if FRL update is not required then
train , , , locally;
0
0

end
append gradients of and to all_gradients;
append weights of and to all_weights;
end
end
if FRL update required then
if gradient averaging enabled then
avg_gradients ←global_update(all_gradients);
−
train , using avg gradients;
end
if weight averaging enabled then
avg_weights ←global_update(all_weights);
−
update weights , , , using avg weights;
0
0

end
end
end
end
Function global_update(params) is
upload params to FRL server;
collect averaged params from FRL server;
return averaged params;
end