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- W4225996876 abstract "In this paper, a novel hybrid multi-robot motion planner that can be applied under non-communication and local observable conditions is presented. The planner is model-free and can realize the end-to-end mapping of multi-robot state and observation information to final smooth and continuous trajectories. The planner is a front-end and back-end separated architecture. The design of the front-end collaborative waypoints searching module is based on the multi-agent soft actor-critic algorithm under the centralized training with decentralized execution diagram. The design of the back-end trajectory optimization module is based on the minimal snap method with safety zone constraints. This module can output the final dynamic-feasible and executable trajectories. Finally, multi-group experimental results verify the effectiveness of the proposed motion planner." @default.
- W4225996876 created "2022-05-05" @default.
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- W4225996876 date "2021-12-13" @default.
- W4225996876 modified "2023-09-26" @default.
- W4225996876 title "Multi-agent Soft Actor-Critic Based Hybrid Motion Planner for Mobile Robots" @default.
- W4225996876 hasPublicationYear "2021" @default.
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