We present a novel approach for collision-free global navigation for continuous-time multi-agent systems with general linear dynamics. Our approach is general and can be used to perform collision-free navigation in 2D and 3D workspaces with narrow passages and crowded regions. As part of pre-computation, we compute multiple bridges in the narrow or tight regions in the workspace using kinodynamic RRT algorithms. Our bridge has certain geometric characteristics, that en- able us to calculate a collision-free trajectory for each agent using simple interpolation at runtime. Moreover, we combine interpolated bridge trajectories with local multi-agent navigation algorithms to compute global collision-free paths for each agent. The overall approach combines the performance benefits of coupled multi-agent algorithms with the pre- computed trajectories of the bridges to handle challenging scenarios. In practice, our approach can handle tens to hundreds of agents in real-time on a single CPU core in 2D and 3D workspaces.
Prior Does Matter: Visual Navigation via Denoising Diffusion Bridge Models
School of Computer Science and Engineering, Sun Yat-sen University（中山大学计算机科学与工程学院）；School of Intelligent Systems Engineering, Sun Yat-sen University（中山大学智能系统工程学院）
Rectified Schrödinger Bridge Matching for Few-Step Visual Navigation
School of Artificial Intelligence, Jilin University（吉林大学人工智能学院）；College of Computer Science, Chongqing University（重庆大学计算机学院）；Department of Computer Science, University of Liverpool（利物浦大学计算机科学系）；Changchun GenY Technology Co., Ltd.（长春GenY科技有限公司）
Stairway to Success: An Online Floor-Aware Zero-Shot Object-Goal Navigation Framework via LLM-Driven Coarse-to-Fine Exploration
The Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州））；The Hong Kong University of Science and Technology（香港科学与技术大学）；National University of Singapore（新加坡国立大学）；Tsinghua University（清华大学）
Spiking Neural Network Actor-Critic Proximal Policy Optimization Control for Autonomous UAV Navigation Through Constrained Openings in Civil Infrastructure and Buildings
Alma Mater Europaea University（欧洲阿尔马马特大学）；AGH University of Krakow（克拉科夫AGH科技大学）
NavGPT-2: Unleashing Navigational Reasoning Capability for Large Vision-Language Models
AIML, University of Adelaide（阿德莱德大学AIML）；Adobe Research（奥多比研究院）；University of North Carolina, Chapel Hill（北卡罗来纳大学教堂山分校）；University of California, Santa Cruz（加利福尼亚大学圣克鲁兹分校）
RAGNav: A Retrieval-Augmented Topological Reasoning Framework for Multi-Goal Visual-Language Navigation
Southwestern University of Finance（西南财经大学）；Department of Informatics,Universitat Hamburg, Hamburg, Germany（汉堡大学信息学院）；University of Electronic Science（电子科技大学）
AirAnchor: Bridging Local and Global Spatial Information for Zero-Shot Aerial Vision-and-Language Navigation
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院）；School of Artificial Intelligence, Shandong University（山东大学人工智能学院）
Homotopy-aware Multi-agent Navigation via Distributed Model Predictive Control
School of Advanced Manufacturing and Robotics, Peking University（先进制造与机器人学院，北京大学）；School of Computer Science and Engineering, Beihang University（计算机科学与工程学院，北航）
