Weighted Buffered Voronoi Cells for Distributed Semi-Cooperative Behavior
Alyssa Pierson,Wilko Schwarting,Sertac Karaman,Daniela Rus,Alyssa Pierson,Wilko Schwarting,Sertac Karaman,Daniela Rus
This paper introduces the Weighted Buffered Voronoi tessellation, which allows us to define distributed, semicooperative multi-agent navigation policies with guarantees on collision avoidance. We generate the Voronoi cells with dynamic weights that bias the boundary towards the agent with the lower relative weight while always maintaining a buffered distance between two agents. By incorporating ag...
