CGLR: Dense Multi-Agent Navigation Using Voronoi Cells and Congestion Metric-based Replanning

Senthil Hariharan Arul,Dinesh Manocha,Senthil Hariharan Arul,Dinesh Manocha

We present a decentralized path-planning algorithm for navigating multiple differential-drive robots in dense environments. In contrast to prior decentralized methods, we propose a novel congestion metric-based replanning that couples local and global planning techniques to efficiently navigate in scenarios with multiple corridors. To handle dense scenes with narrow passages, our approach computes...