arXiv cs.RO·· 2 days agoAI score62
FastFunnels: High-Speed Multi-Robot Navigation in Narrow Spaces Using Adaptive Dynamic Funnels
Summary
FastFunnels proposes a hierarchical multi-robot navigation method: a high-level reinforcement learning policy generates deformable elliptical envelopes in real time, while a low-level distributed model predictive control (DMPC) layer keeps robots within the envelopes and avoids collisions with each other.
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Source: arXiv cs.RO · arxiv.org