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D4orm diffusion-denoising framework extended into a family of multi-robot trajectory planners

Based on the dynamics-aware diffusion-denoising framework D4orm, this paper builds a family of multi-robot trajectory planners for different operational requirements, including a decoupled planner, an online receding-horizon planner with feedback control, and a distributed planner. Evaluations with differential-drive and holonomic robots in 2D and 3D environments show that D4orm-based methods find high-quality solutions faster and more reliably than sampling-based optimization methods such as MPPI and a learning-based diffusion model method.

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