A generative model plus a batched differentiable safety filter can produce diverse, collision-free swarm trajectories in real time on a GPU.
Heter- sim: Heterogeneous multi-agent systems simulation by interactive data-driven optimization,
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Swarm-Gen: Fast Generation of Diverse Feasible Swarm Behaviors
A generative model plus a batched differentiable safety filter can produce diverse, collision-free swarm trajectories in real time on a GPU.