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cs.RO2022
DMCA: Dense Multi-agent Navigation using Attention and Communication
Senthil Hariharan Arul, Amrit Singh Bedi, Dinesh Manocha
In decentralized multi-robot navigation, ensuring safe and efficient movement with limited environmental awareness remains a challenge. While robots traditionally navigate based on…
cs.RO2022
Dense Multi-Agent Navigation Using Voronoi Cells and Congestion Metric-based Replanning
Senthil Hariharan Arul, Dinesh Manocha
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…