Merry-Go-Round: Safe Control of Decentralized Multi-Robot Systems with Deadlock Prevention
Published in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), accepted for publication, 2025, 2025
This paper proposes Safe Interval RRT*, a scalable algorithm for multi-robot path planning in continuous spaces.
Highlights
- Supports up to 100 omnidirectional robots in simulation
- Integrated with NVIDIA Isaac Sim for realistic validation
- Compared against Graph Transformer-based MAPF baselines
Media
🎥 Demo Video
📄 ArXiv Preprint