A hierarchical diffusion-transformer planner for robot swarms that generates GMM trajectories via cost-guided sampling and tracks them with distributed MPC.
Decentralized control of multiagent systems using local den- sity feedback
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SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer
A hierarchical diffusion-transformer planner for robot swarms that generates GMM trajectories via cost-guided sampling and tracks them with distributed MPC.