Distributing Collaborative Multi-Robot Planning With Gaussian Belief Propagation

Precise coordinated planning over a forward time window enables safe and highly efficient motion when many robots must work together in tight spaces, but this would normally require centralised control of all devices which is difficult to scale. We demonstrate GBP Planning, new purely distributed technique based on Gaussian Belief Propagation for multi-robot problems, formulated by generic factor graph defining dynamics collision constraints window. In simulations, we show that our method allows high performance collaborative where are able cross each other busy, intricate scenarios. They maintain shorter, quicker smoother trajectories than alternative techniques even cases communication failure. encourage the reader view accompanying video demonstration.