A Scalable Framework For Real-Time Multi-Robot, Multi-Human Collision Avoidance

摘要: Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely presence of other moving agents, such as humans. This paper introduces novel framework for robot navigation that accounts high-order system dynamics maintains safety external disturbances, robots, Our approach precomputes tracking error margin each robot, generates confidence-aware human predictions, coordinates multiple robots with sequential priority ordering, effectively enabling scalable safe trajectory execution. We demonstrate our hardware two humans, showcase scalability larger simulation.