Prioritized Formations for Multi-Agent Group Navigation
نویسندگان
چکیده
We present a novel approach for locally guiding a group of agents amidst static and dynamic obstacles using the concept of prioritized formations. Our approach plans over a joint formation-velocity space employing a Bayesian scheme for evaluating the priority values of formations and a collision avoidance algorithm that accounts for the anisotropic nature of rotating formations. It guarantees collision-free navigation for the group, while exhibiting fast running times and smooth avoidance behaviors.
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