Decentralized Navigation with Optimality for Multiple Holonomic Agents in Simply Connected Workspaces

Multi-agent systems are utilized more often in the research community and industry, as they can complete tasks faster and more efficiently than single-agent systems. Therefore, in this paper, we are going to present an optimal approach to the multi-agent navigation problem in simply connected workspaces. The task involves each agent reaching its destination starting from an initial position and following an optimal collision-free trajectory. To achieve this, we design a decentralized control protocol, defined by a navigation function, where each agent is equipped with a navigation controller that resolves imminent safety conflicts with the others, as well as the workspace boundary, without requesting knowledge about the goal position of the other agents. Our approach is rendered sub-optimal, since each agent owns a predetermined optimal policy calculated by a novel off-policy iterative method. We use this method because the computational complexity of learning-based methods needed to calculate the global optimal solution becomes unrealistic as the number of agents increases. To achieve our goal, we examine how much the yielded sub-optimal trajectory deviates from the optimal one and how much time the multi-agent system needs to accomplish its task as we increase the number of agents. Finally, we compare our method results with a discrete centralized policy method, also known as a Multi-Agent Poli-RRT* algorithm, to demonstrate the validity of our method when it is attached to other research algorithms.

Representation granularity enables time-efficient autonomous exploration in large, complex worlds

We propose a dual-resolution scheme to achieve time-efficient autonomous exploration with one or many robots. The scheme maintains a high-resolution local map of the robot's immediate vicinity and a low-resolution global map of the remaining areas of the environment. We believe that the strength of our approach lies in this low- and high-resolution representation of the environment: The high-resolution local map ensures that the robots observe the entire region in detail, and because the local map is bounded, so is the computation burden to process it. The low-resolution global map directs the robot to explore the broad space and only requires lightweight computation and low bandwidth to communicate among the robots. This paper shows the strength of this approach for both single-robot and multirobot exploration. For multirobot exploration, we also introduce a "pursuit" strategy for sharing information among robots with limited communication. This strategy directs the robots to opportunistically approach each other. We found that the scheme could produce exploration paths with a bounded difference in length compared with the theoretical shortest paths. Empirically, for single-robot exploration, our method produced 80% higher time efficiency with 50% lower computational runtimes than state-of-the-art methods in more than 300 simulation and real-world experiments. For multirobot exploration, our pursuit strategy demonstrated higher exploration time efficiency than conventional strategies in more than 3400 simulation runs with up to 20 robots. Last, we discuss how our method was deployed in the DARPA Subterranean Challenge and demonstrated the fastest and most complete exploration among all teams.