Multi-Robot Control via Waypoint-Based Bi-Level Planning
A research paper proposes a hybrid framework for multi-robot control in cluttered environments, jointly optimizing high-level task planning and low-level motion planning. The method introduces waypoints as a simple yet expressive representation for motion trajectories to enable effective parameterization of low-level planning. To address credit assignment ambiguity between planning levels, a curriculum-based training approach is adopted. The work targets challenges such as robot-robot collisions, robot-obstacle collisions, and unreachable motions, which require joint optimization across both planning levels. The paper is available on arXiv under ID 2604.21138.
Key facts
- arXiv ID: 2604.21138
- Paper proposes hybrid multi-robot control framework
- Jointly optimizes task and motion planning
- Introduces waypoints for motion trajectory representation
- Uses curriculum-based training for credit assignment
- Addresses robot-robot and robot-obstacle collisions
- Focuses on cluttered environments
- Published on arXiv
Entities
Institutions
- arXiv