2022
DOI: 10.48550/arxiv.2202.11334
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Dense Multi-Agent Navigation Using Voronoi Cells and Congestion Metric-based Replanning

Abstract: We present a decentralized path-planning algorithm for navigating multiple differential-drive robots in dense environments. In contrast to prior decentralized methods, we propose a novel congestion metric-based replanning that couples local and global planning techniques to efficiently navigate in scenarios with multiple corridors. To handle dense scenes with narrow passages, our approach computes the initial path for each agent to its assigned goal using a lattice planner. Based on neighbors' information, eac… Show more

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