Real-Time Decentralized Navigation of Nonholonomic Agents Using Shifted Yielding Areas
Liang He,Zherong Pan,Dinesh Manocha,Liang He,Zherong Pan,Dinesh Manocha
We present a lightweight, decentralized algorithm for navigating multiple nonholonomic agents through challenging environments with narrow passages. Our key idea is to allow agents to yield to each other in large open areas instead of narrow passages, to increase the success rate of conventional decentralized algorithms. At pre-processing time, our method computes a medial axis for the freespace. ...
