论文标题
theta*，orca和推动和旋转的组合进行多代理导航
A Combination of Theta*, ORCA and Push and Rotate for Multi-agent Navigation
论文作者
论文摘要
当不存在集中式控制器时，我们研究静态环境中多代理导航的问题。每个代理人都可以单独控制，并依靠三种算法组件来实现其目标，同时避免与其他代理和障碍发生冲突：i）由Theta*算法完成的个人路径计划； ii）避免碰撞在随后的路径中，该路径由Orca*算法执行； iii）通过推和旋转算法完成的本地限制的多代理路径计划。后一个组件对于避免在狭窄的区域（例如狭窄的通道或门）中的死锁至关重要。我们描述了建议的组件如何相互作用并形成连贯的导航管道。我们在模拟中对该管道进行了广泛的经验评估。获得的结果清楚地表明，与仅依靠避免碰撞的技术相比，发生的僵局的数量显着减少，使更多的代理能够达到目标
We study the problem of multi-agent navigation in static environments when no centralized controller is present. Each agent is controlled individually and relies on three algorithmic components to achieve its goal while avoiding collisions with the other agents and the obstacles: i) individual path planning which is done by Theta* algorithm; ii) collision avoidance while path following which is performed by ORCA* algorithm; iii) locally-confined multi-agent path planning done by Push and Rotate algorithm. The latter component is crucial to avoid deadlocks in confined areas, such as narrow passages or doors. We describe how the suggested components interact and form a coherent navigation pipeline. We carry out an extensive empirical evaluation of this pipeline in simulation. The obtained results clearly demonstrate that the number of occurring deadlocks significantly decreases enabling more agents to reach their goals compared to techniques that rely on collision-avoidance only and do not include multi-agent path planning component
