SID is a decentralized planner that reuses a constraint-aware diffusion model to simulate neighbors' trajectories and then generate collision-free own paths, enabling minimal communication and scaling to 108 robots.
Dayi Dong, Maulik Bhatt, Seoyeon Choi, and Negar Mehr
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Simulation-Informed Diffusion for Decentralized Multi-robot Motion Planning
SID is a decentralized planner that reuses a constraint-aware diffusion model to simulate neighbors' trajectories and then generate collision-free own paths, enabling minimal communication and scaling to 108 robots.