Data-Driven Risk-sensitive Model Predictive Control for Safe Navigation in Multi-Robot Systems
Atharva Navsalkar,Ashish R. Hota,Atharva Navsalkar,Ashish R. Hota
Safe navigation is a fundamental challenge in multi-robot systems due to the uncertainty surrounding the future trajectory of the robots that act as obstacles for each other. In this work, we propose a principled data-driven approach where each robot repeatedly solves a finite horizon optimization problem subject to collision avoidance constraints with latter being formulated as distributionally r...
