A graph neural attention planner combined with decentralized NMPC enables scalable, safe multi-robot unlabeled motion planning under communication constraints, demonstrated in simulation and real quadrotor experiments.
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Graph Neural Planning and Predictive Control for Multi-Robot Communication-Constrained Unlabeled Motion Planning
A graph neural attention planner combined with decentralized NMPC enables scalable, safe multi-robot unlabeled motion planning under communication constraints, demonstrated in simulation and real quadrotor experiments.