Abstract In crowded multi-agent navigation, the motion of the agents is significantly constrained by the motion of the nearby agents. This makes planning paths very difficult and leads to inefficient global motion. To address this problem, we propose a distributed approach, which we call C-Nav, that introduces politeness into multi agent navigation. With our approach, agents take into account the velocities and goals of their neighbors and optimize their motion accordingly and in real-time. Further, we perform a theoretical analysis of the algorithm, and experimentally demonstrate its advantages in simulation, with hundreds of agents in a variety of scenarios, and in real world navigation tasks with several mobile robots.

中文翻译：

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C-Nav：拥挤的多代理导航中的分布式协调

摘要 在拥挤的多智能体导航中，智能体的运动受到附近智能体运动的显着约束。这使得规划路径非常困难，并导致全局运动效率低下。为了解决这个问题，我们提出了一种分布式方法，我们称之为 C-Nav，它将礼貌引入多代理导航。通过我们的方法，代理会考虑邻居的速度和目标，并相应地实时优化他们的运动。此外，我们对该算法进行了理论分析，并通过实验证明了其在模拟中的优势，数百个代理在各种场景中，以及在多个移动机器人的现实世界导航任务中。