CoopUQ: Robust Multi-Robot Social Navigation via Uncertainty-Aware Cooperative Forecasting
[Robotyka] Autorzy: Zehao Wang, Jianpeng Yao, Yuping Wang i 9 więcej
Reinforcement learning enables mobile robots to make fast and scalable navigation decisions in constrained human-shared environments. However, directly extending single-robot approaches to multi-robot settings often fails to ensure safety and efficiency, especially under occlusions and out-of-distribution (OOD) scenarios, where individual robots may overlook potential risks or make inaccurate predictions. Leveraging cooperation effectively for both prediction and navigation remains a major challenge. We propose CoopUQ, a multi-robot social navigation framework that bridges uncertainty-aware cooperative occupancy forecasting and robust decision making. CoopUQ predicts future occupancy grid maps through cross-robot spatiotemporal feature fusion and further leverages forecasts and their uncertainty to guide policy via constrained multi-agent reinforcement learning, where the cost penalizes…
- Kategoria arxiv
- cs.RO
- Kategoria
- Robotyka