Multi-Robot Cooperative Navigation in Crowds: A Game-Theoretic Learning-Based Model Predictive Control Approach
Viet-Anh Le,Vaishnav Tadiparthi,Behdad Chalaki,Hossein Nourkhiz Mahjoub,Jovin D’Sa,Ehsan Moradi-Pari,Andreas A. Malikopoulos,Viet-Anh Le,Vaishnav Tadiparthi,Behdad Chalaki,Hossein Nourkhiz Mahjoub,Jovin D’Sa,Ehsan Moradi-Pari,Andreas A. Malikopoulos
In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long short-term memory model that forecasts pedestrians’ trajectories. We formulate the local MPC formulation for each individual robot that includes both individual and sha...
