论文标题
部分可观测时空混沌系统的无模型预测
Learning Perceptual Hallucination for Multi-Robot Navigation in Narrow Hallways
论文作者
论文摘要
尽管当前用于自动驾驶机器人导航的系统可以在静态环境中产生安全有效的运动计划，但当多个机器人必须在狭窄的空间中一起导航时，它们通常会产生次优行为。例如，当两个机器人在狭窄的走廊上相遇时，他们可能会转身找到替代路线，或者相互碰撞。本文提出了一种新的导航方法，允许两个机器人在狭窄的走廊中相互通过，而无需碰撞，停止或等待。我们的方法是走廊传递（PHHP）的感知幻觉，学会了合成产生虚拟障碍（即感知幻觉），以促进多个机器人在狭窄的走廊中使用，这些机器人利用原本标准的自主导航系统。与多个基线相比，我们对各种走廊中物理机器人的实验表现出改善的性能。
While current systems for autonomous robot navigation can produce safe and efficient motion plans in static environments, they usually generate suboptimal behaviors when multiple robots must navigate together in confined spaces. For example, when two robots meet each other in a narrow hallway, they may either turn around to find an alternative route or collide with each other. This paper presents a new approach to navigation that allows two robots to pass each other in a narrow hallway without colliding, stopping, or waiting. Our approach, Perceptual Hallucination for Hallway Passing (PHHP), learns to synthetically generate virtual obstacles (i.e., perceptual hallucination) to facilitate passing in narrow hallways by multiple robots that utilize otherwise standard autonomous navigation systems. Our experiments on physical robots in a variety of hallways show improved performance compared to multiple baselines.
