Decentralized Multi-Robot Navigation for Autonomous Surface Vehicles with Distributional Reinforcement Learning

Xi Lin,Yewei Huang,Fanfei Chen,Brendan Englot,Xi Lin,Yewei Huang,Fanfei Chen,Brendan Englot

Collision avoidance algorithms for Autonomous Surface Vehicles (ASV) that follow the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) have been proposed in recent years. However, it may be difficult and unsafe to follow COLREGs in congested waters, where multiple ASVs are navigating in the presence of static obstacles and strong currents, due to the complex in...