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…