Augmenting Control Policies with Motion Planning for Robust and Safe Multi-robot Navigation
Tianyang Pan,Christos K. Verginis,Andrew M. Wells,Lydia E. Kavraki,Dimos V. Dimarogonas,Tianyang Pan,Christos K. Verginis,Andrew M. Wells,Lydia E. Kavraki,Dimos V. Dimarogonas
This work proposes a novel method of incorporating calls to a motion planner inside a potential field control policy for safe multi-robot navigation with uncertain dynamics. The proposed framework can handle more general scenes than the control policy and has low computational costs. Our work is robust to uncertain dynamics and quickly finds high-quality paths in scenarios generated from real-worl...
