Opinion-Driven Decision-Making for Multi-Robot Navigation through Narrow Corridors
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866915265914077184 |
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| author | Alghamdi, Norah K. Park, Shinkyu |
| author_facet | Alghamdi, Norah K. Park, Shinkyu |
| contents | We propose an opinion-driven navigation framework for multi-robot traversal through a narrow corridor. Our approach leverages a multi-agent decision-making model known as the Nonlinear Opinion Dynamics (NOD) to address the narrow corridor passage problem, formulated as a multi-robot navigation game. By integrating the NOD model with a multi-robot path planning algorithm, we demonstrate that the framework effectively reduces the likelihood of deadlocks during corridor traversal. To ensure scalability with an increasing number of robots, we introduce a game reduction technique that enables efficient coordination in larger groups. Extensive simulation studies are conducted to validate the effectiveness of the proposed approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_20947 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Opinion-Driven Decision-Making for Multi-Robot Navigation through Narrow Corridors Alghamdi, Norah K. Park, Shinkyu Robotics Multiagent Systems We propose an opinion-driven navigation framework for multi-robot traversal through a narrow corridor. Our approach leverages a multi-agent decision-making model known as the Nonlinear Opinion Dynamics (NOD) to address the narrow corridor passage problem, formulated as a multi-robot navigation game. By integrating the NOD model with a multi-robot path planning algorithm, we demonstrate that the framework effectively reduces the likelihood of deadlocks during corridor traversal. To ensure scalability with an increasing number of robots, we introduce a game reduction technique that enables efficient coordination in larger groups. Extensive simulation studies are conducted to validate the effectiveness of the proposed approach. |
| title | Opinion-Driven Decision-Making for Multi-Robot Navigation through Narrow Corridors |
| topic | Robotics Multiagent Systems |
| url | https://arxiv.org/abs/2504.20947 |