A decentralized MPPI controller with chance-constrained ORCA safety buffers achieves high success rates for differential-drive robots under observation and execution noise.
Decentralized probabilis- tic multi-robot collision avoidance using buffered uncertainty-aware voronoi cells,
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Decentralized Uncertainty-Aware Multi-Agent Collision Avoidance with Model Predictive Path Integral
A decentralized MPPI controller with chance-constrained ORCA safety buffers achieves high success rates for differential-drive robots under observation and execution noise.