3 papers
cs.RO2026
CoRL-MPPI: Enhancing MPPI With Learnable Behaviours For Efficient And Provably-Safe Multi-Robot Collision Avoidance
Stepan Dergachev, Artem Pshenitsyn, Aleksandr Panov +2
Decentralized collision avoidance is a core challenge for scalable multi-robot systems. A promising approach to this problem is Model Predictive Path Integral (MPPI) control - a fr…
cs.RO2025
Decentralized Uncertainty-Aware Multi-Agent Collision Avoidance with Model Predictive Path Integral
Stepan Dergachev, Konstantin Yakovlev
Decentralized multi-agent navigation under uncertainty is a complex task that arises in numerous robotic applications. It requires collision avoidance strategies that account for b…
cs.MA2024
Decentralized Unlabeled Multi-Agent Navigation in Continuous Space
Stepan Dergachev, Konstantin Yakovlev
In this work, we study the problem where a group of mobile agents needs to reach a set of goal locations, but it does not matter which agent reaches a specific goal. Unlike most of…