Corpus ID: 212725223

Cooperation without Coordination: Hierarchical Predictive Planning for Decentralized Multiagent Navigation

  title={Cooperation without Coordination: Hierarchical Predictive Planning for Decentralized Multiagent Navigation},
  author={Rose E. Wang and J. Kew and Dennis Lee and T. Lee and T. Zhang and Brian Ichter and Jie Tan and Aleksandra Faust},
Decentralized multiagent planning raises many challenges, such as adaption to changing environments inexplicable by the agent's own behavior, coordination from noisy sensor inputs like lidar, cooperation without knowing other agents' intents. To address these challenges, we present hierarchical predictive planning (HPP) for decentralized multiagent navigation tasks. HPP learns prediction models for itself and other teammates, and uses the prediction models to propose and evaluate navigation… Expand
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