DOBB: Dynamic Oriented Bounding Boxes for Multi-Agent Collision Avoidance under
Overview
This research presents DOBB, an online geometric representation that converts current state estimates, uncertainty, and agent-specific response characteristics into a dynamic, direction-dependent safety margin. By deriving geometric features to characterize interactions between agents' DOBBs and using a reward function that preserves their physical interpretation, the method achieves a mean total failure rate of 2.6% across four evaluation environments. Performance remains robust under out-of-distribution shifts in actuation dynamics and state-estimation uncertainty, with collision-based failure rates staying at or below 2.3% in every tested condition.
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Reported quantity · Reported failure rate: 2.6 percent · reported trials
“ures that jointly characterize the relative configuration and severity of interactions between agents' DOBBs, along with a reward function that preserves the physical interpretation of those interactions. Across four evaluation environments, DOBB achieves the lowest mean total failure rate of 2.6%. This performance persists under out-of-distribution shifts in actuation dynamics and state-estimation uncertainty, with”
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- arXiv Robotics — research abstractsSignalDOBB: Dynamic Oriented Bounding Boxes for Multi-Agent Collision Avoidance under State Uncertainty and Heterogeneous Dynamics
This research presents DOBB, an online geometric representation that converts current state estimates, uncertainty, and agent-specific response characteristics into a dynamic, direction-dependent safety margin. By deriving geometric features to characterize interactions between agents' DOBBs and using a reward function that preserves their physical interpretation, the method achieves a mean total failure rate of 2.6% across four evaluation environments. Performance remains robust under out-of-distribution shifts in actuation dynamics and state-estimation uncertainty, with collision-based failure rates staying at or below 2.3% in every tested condition.
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