Learning Hyperplanes for Multi-Agent Collision Avoidance in Space.
CoRR(2023)
摘要
A core challenge of multi-robot interactions is collision avoidance among
robots with potentially conflicting objectives. We propose a game-theoretic
method for collision avoidance based on rotating hyperplane constraints. These
constraints ensure collision avoidance by defining separating hyperplanes that
rotate around a keep-out zone centered on certain robots. Since it is
challenging to select the parameters that define a hyperplane without
introducing infeasibilities, we propose to learn them from an expert trajectory
i.e., one collected by recording human operators. To do so, we solve for the
parameters whose corresponding equilibrium trajectory best matches the expert
trajectory. We validate our method by learning hyperplane parameters from noisy
expert trajectories and demonstrate the generalizability of the learned
parameters to scenarios with more robots and previously unseen initial
conditions.
更多查看译文
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要