Towards Optimally Decentralized Multi-Robot Collision Avoidance via Deep Reinforcement Learning

28 Sep 2017Pinxin LongTingxiang FanXinyi LiaoWenxi LiuHao ZhangJia Pan

Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed multi-robot collision avoidance systems exist, they often require extracting agent-level features to plan a local collision-free action, which can be computationally prohibitive and not robust... (read more)

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