A decoupled planner first biases each robot's global path toward social conventions and shared routes, then solves a small mixed-integer program over encounter windows to produce scalable, conflict-free fleet trajectories.
Safety concerns emerging from robots navigating in crowded pedestrian areas,
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Socially Consistent Multi-Robot Navigation Using Decoupled Planning and Trajectory Coordination
A decoupled planner first biases each robot's global path toward social conventions and shared routes, then solves a small mixed-integer program over encounter windows to produce scalable, conflict-free fleet trajectories.