Abstract:Avoiding collisions is the core problem in multiagent navigation. In decentralized settings, when agents have limited communication and sensory capabilities, collisions are typically avoided in a reactive fashion, relying on local observations/communications. Prominent collision avoidance techniques, e.g. ORCA, are computationally efficient and scale well to a large number of agents. However, in numerous scenarios, involving navigation through the tight passages or confined spaces, deadlocks are likely to occu… Show more
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