Dispersive Tree Agreements for Multi-Robot Coordination
Dispersive Tree Agreements for Multi-Robot Coordination
This research introduces WarpWeaver, a decentralized, real-time planner that approaches joint optimality for multi-robot nonlinear systems by using dispersive trees of forward-propagated commands and negotiation driven by decentralized column generation. The method replaces inter-robot coupling with local constraints, allowing locally grown dispersive trees to contain near-optimal agreements. In simulation on the Dynobench suite, WarpWeaver reduces total travel time by up to 22% compared to centralized offline planners and by up to 16% against a decentralized real-time baseline, while outperforming task-specific planners on networked navigation. Hardware experiments on six robots planning onboard demonstrate real-world implementability.
Source: arXiv Robotics — research abstracts · Read original article ↗
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
- Environment
- SimulationOpen source S4
Reported numbers
percent reduction in total travel time
≤22
View original evidence
the robots pursue by a negotiation driven by decentralized column generation. In the quiescent limit, this negotiation is shown to settle on a near-optimal agreement. Our real-time protocol, WarpWeaver, runs the negotiation asynchronously over a receding horizon and closes on quiesced agreements even when deadlines cut it short. In simulation, WarpWeaver reduces total travel time by up to 22% against centralized off
Open source S4number of robots
6 robots
View original evidence
line planners on the Dynobench suite and by up to 16% against a decentralized real-time baseline, and outperforms a task-specific planner on networked navigation. Hardware experiments on six robots planning onboard demonstrate real-world implementability.
Open source S5
- paper: not_reported
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
the robots pursue by a negotiation driven by decentralized column generation. In the quiescent limit, this negotiation is shown to settle on a near-optimal agreement. Our real-time protocol, WarpWeaver, runs the negotiation asynchronously over a receding horizon and closes on quiesced agreements even when deadlines cut it short. In simulation, WarpWeaver reduces total travel time by up to 22% against centralized off
Open source S4
line planners on the Dynobench suite and by up to 16% against a decentralized real-time baseline, and outperforms a task-specific planner on networked navigation. Hardware experiments on six robots planning onboard demonstrate real-world implementability.
Open source S5
Dispersive Tree Agreements for Multi-Robot Coordination
Open source S1
arXiv:2610.31540v2 Announce Type: replace Abstract: Multi-robot coordination of nonlinear systems is naturally formulated as joint-space optimal control subject to joint constraints. Existing methods that approach joint optimality remain largely centralized and offline, while decentralized, real-time counterparts target safe navigation without pursuing the joint optimum. This paper develops a decentralized, real-time
Open source S2
planner that approaches the joint optimum as an anytime process. We extend a recent single-robot framework that searches dispersive trees of forward-propagated commands to coordinate a multi-robot team near-optimally. We first show that the inter-robot coupling can be effectively replaced by some local constraints, under which locally grown dispersive trees contain a near-optimal agreement. It is this structure that
Open source S3
Source：arXiv Robotics — research abstracts · arxiv.org