LAC-Nav: Collision-Free Mutiagent Navigation Based on The Local Action Cells

11/12/2019
by   Li Ning, et al.
0

Collision avoidance is one of the most primary requirement in the decentralized multiagent navigations: while the agents are moving towards their own targets, attentions should be paid to avoid the collisions with the others. In this paper, we introduce the concept of local action cell, which provides for each agent a set of velocities that are safe to perform. Based on the realtime updated local action cells, we propose the LAC-Nav approach to navigate the agent with the properly selected velocity; and furthermore, we coupled the local action cell with an adaptive learning framework, in which the effect of selections are evaluated and used as the references for making decisions in the following updates. Through the experiments for three commonly considered scenarios, we demonstrated the efficiency of the proposed approaches, with the comparison to several widely studied strategies.

READ FULL TEXT
POST COMMENT

Comments

There are no comments yet.

Authors

page 1

page 2

page 3

page 4

02/26/2021

V-RVO: Decentralized Multi-Agent Collision Avoidance using Voronoi Diagrams and Reciprocal Velocity Obstacles

We present a decentralized collision avoidance method for dense environm...
10/11/2017

ALAN: Adaptive Learning for Multi-Agent Navigation

In multi-agent navigation, agents need to move towards their goal locati...
09/09/2019

DCAD: Decentralized Collision Avoidance with Dynamics Constraints for Agile Quadrotor Swarms

We present a novel, decentralized collision avoidance algorithm for navi...
10/11/2021

Achieving safe minimum circle circumnavigation around multiple targets: a dynamic compensation approach

Minimum circle circumnavigation is proposed in this paper, which is of s...
02/26/2021

Collisionless and Decentralized Formation Control for Strings

A decentralized feedback controller for multi-agent systems, inspired by...
02/23/2022

Dense Multi-Agent Navigation Using Voronoi Cells and Congestion Metric-based Replanning

We present a decentralized path-planning algorithm for navigating multip...
01/16/2018

A Multi-Agent Neural Network for Dynamic Frequency Reuse in LTE Networks

Fractional Frequency Reuse techniques can be employed to address interfe...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.