Global Map Assisted Multi-Agent Collision Avoidance via Deep Reinforcement Learning around Complex Obstacles
Yuanyuan Du,Jianan Zhang,Jie Xu,Xiang Cheng,Shuguang Cui,Yuanyuan Du,Jianan Zhang,Jie Xu,Xiang Cheng,Shuguang Cui
State-of-the-art multi-agent collision avoidance algorithms face limitations when applied to cluttered public environments, where obstacles may have a variety of shapes and structures. The issue arises because most of these algorithms are agent-level methods. They concentrate solely on preventing collisions between the agents while the obstacles are handled merely out-of-policy. Obstacle-aware pol...
