Decentralized Unlabeled Multi-Agent Navigation in Continuous Space

Abstract

In this work, we study the problem where a group of mobile agents needs to reach a set of goal locations, but it does not matter which agent reaches a specific goal. Contrary, in this work we focus on the decentralized scenarios, when each agent acts individually relying only on local observations/communications and is free to move in arbitrary direction at any time. Our iterative approach involves agents individually selecting goals, exchanging them, planning paths, and at each time step choose actions that balance between progressing along the paths and avoiding collisions. The proposed method is shown to be complete under specific assumptions on how agents progress towards their current goals, and our empirical evaluation demonstrates its superiority over a baseline decentralized navigation approach and a comparison with the centralized TSWAP algorithm reveals its efficiency in minimizing trajectory lengths for mission accomplishment.