Anytime navigation with Progressive Hindsight optimization

摘要

In multi-robot systems, efficiently navigating in a a partially-known environment is an ubiquitous but challenging task, as each robot must account for the uncertainty introduced, for example, by other moving robots. This uncertainty makes pre-computed plans not always applicable, and often hinders the desired efficient use of the robot's resources. In this work, we present a local anytime approach for robot motion planning that accounts for the uncertainty of the environment by generating `snapshots' of possible future scenarios. Our approach adapts the Hindsight optimization technique to allow robots to plan their immediate motion based on long-term efficiency. We validate our approach by comparing the efficiency on the paths executed against a state-of-the art navigation technique in a variety of scenarios, and show that by accounting for the uncertainty in the environment, agents can improve their time- and energy-efficient motions.