mlsanityData to 7 Oct 2026

Decentralized Non-communicating Multiagent Collision Avoidance with Deep Reinforcement Learning

arXiv 1609.07845 ↗First posted 26 Sep 2016cs.MAcited by 104

Not on the map. Why?

Abstract (arXiv)

Finding feasible, collision-free paths for multiagent systems can be challenging, particularly in non-communicating scenarios where each agent's intent (e.g. goal) is unobservable to the others. In particular, finding time efficient paths often requires anticipating interaction with neighboring agents, the process of which can be computationally prohibitive. This work presents a decentralized multiagent collision avoidance algorithm based on a novel application of deep reinforcement learning, which effectively offloads the online computation (for predicting interaction patterns) to an offline learning procedure. Specifically, the proposed approach develops a value network that encodes the estimated time to the goal given an agent's joint configuration (positions and velocities) with its neighbors. Use of the value network not only admits efficient (i.e., real-time implementable) queries for finding a collision-free velocity vector, but also considers the uncertainty in the other agents' motion. Simulation results show more than 26 percent improvement in paths quality (i.e., time to reach the goal) when compared with optimal reciprocal collision avoidance (ORCA), a state-of-the-art collision avoidance strategy.

Key facts. Cited by 104 papers in the map (data through 7 Oct 2026). First posted on arXiv 26 Sep 2016.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 23; 2022: 14; 2023: 14; 2024: 27; 2025: 14; 2026: 12.

104 papers.

Sort:

By area:

  1. 2024Deep Reinforcement Learning for Robotics: A Survey of Real-World Successescited by 153
  2. 2023SACSoN: Scalable Autonomous Control for Social Navigationcited by 60
  3. 2023Principles and Guidelines for Evaluating Social Robot Navigation Algorithmscited by 52
  4. 2022Intention Aware Robot Crowd Navigation with Attention-Based Interaction Graphcited by 46
  5. 2021Catch Me If You Hear Me: Audio-Visual Navigation in Complex Unmapped Environments with Moving Soundscited by 40
  6. 2021Are socially-aware trajectory prediction models really socially-aware?cited by 32
  7. 2021Distributed Heuristic Multi-Agent Path Finding with Communicationcited by 31
  8. 2022Safe Reinforcement Learning Using Black-Box Reachability Analysiscited by 22
  9. 2021Where to go next: Learning a Subgoal Recommendation Policy for Navigation Among Pedestrianscited by 20
  10. 2024Multi-Agent Dynamic Relational Reasoning for Social Robot Navigationcited by 20
  11. 2022VI-IKD: High-Speed Accurate Off-Road Navigation using Learned Visual-Inertial Inverse Kinodynamicscited by 19
  12. 2024Deep Reinforcement Learning-based Obstacle Avoidance for Robot Movement in Warehouse Environmentscited by 17
38 more
  1. 2021Conflict Avoidance in Social Navigation -- a Surveycited by 13
  2. 2021Learning Interaction-Aware Trajectory Predictions for Decentralized Multi-Robot Motion Planning in Dynamic Environmentscited by 12
  3. 2024Intention-aware Denoising Diffusion Model for Trajectory Predictioncited by 11
  4. 2022High-Speed Accurate Robot Control using Learned Forward Kinodynamics and Non-linear Least Squares Optimizationcited by 9
  5. 2024Language-Conditioned Offline RL for Multi-Robot Navigationcited by 9
  6. 2022Occlusion-Aware Crowd Navigation Using People as Sensorscited by 8
  7. 2024SELFI: Autonomous Self-Improvement with Reinforcement Learning for Social Navigationcited by 8
  8. 2024SoNIC: Safe Social Navigation with Adaptive Conformal Inference and Constrained Reinforcement Learningcited by 8
  9. 2021Human-Inspired Multi-Agent Navigation using Knowledge Distillationcited by 7
  10. 2024NeuPAN: Direct Point Robot Navigation with End-to-End Model-based Learningcited by 7
  11. 2024DR-MPC: Deep Residual Model Predictive Control for Real-world Social Navigationcited by 7
  12. 2025Discrete GCBF Proximal Policy Optimization for Multi-agent Safe Optimal Controlcited by 7
  13. 2022Exploiting Proximity-Aware Tasks for Embodied Social Navigationcited by 6
  14. 2023Collision Avoidance and Navigation for a Quadrotor Swarm Using End-to-end Deep Reinforcement Learningcited by 6
  15. 2024HEIGHT: Heterogeneous Interaction Graph Transformer for Robot Navigation in Crowded and Constrained Environmentscited by 6
  16. 2021Connecting Deep-Reinforcement-Learning-based Obstacle Avoidance with Conventional Global Planners using Waypoint Generatorscited by 5
  17. 2022Multi-Agent Reinforcement Learning with Shared Resources for Inventory Managementcited by 5
  18. 2023SOCIALGYM 2.0: Simulator for Multi-Agent Social Robot Navigation in Shared Human Spacescited by 5
  19. 2024Socially Integrated Navigation: A Social Acting Robot with Deep Reinforcement Learningcited by 5
  20. 2024Uncertainty-Aware DRL for Autonomous Vehicle Crowd Navigation in Shared Spacecited by 5
  21. 2025Towards Generalizable Safety in Crowd Navigation via Conformal Uncertainty Handlingcited by 5
  22. 2021Robot Navigation in a Crowd by Integrating Deep Reinforcement Learning and Online Planningcited by 4
  23. 2021Multi-agent Soft Actor-Critic Based Hybrid Motion Planner for Mobile Robotscited by 4
  24. 2022Intention-Aware Navigation in Crowds with Extended-Space POMDP Planningcited by 4
  25. 2024Following the Human Thread in Social Navigationcited by 4
  26. 2025Solving Multi-Agent Safe Optimal Control with Distributed Epigraph Form MARLcited by 4
  27. 2021Autonomous Navigation through intersections with Graph ConvolutionalNetworks and Conditional Imitation Learning for Self-driving Carscited by 3
  28. 2021Jamming-Resilient Path Planning for Multiple UAVs via Deep Reinforcement Learningcited by 3
  29. 2021Nearest-Neighbor-based Collision Avoidance for Quadrotors via Reinforcement Learningcited by 3
  30. 2021DeepSocNav: Social Navigation by Imitating Human Behaviorscited by 3
  31. 2024Robot Navigation with Entity-Based Collision Avoidance using Deep Reinforcement Learningcited by 3
  32. 2025Learning Implicit Social Navigation Behavior using Deep Inverse Reinforcement Learningcited by 3
  33. 2021Reinforcement Learning for Robot Navigation with Adaptive Forward Simulation Time (AFST) in a Semi-Markov Modelcited by 2
  34. 2021Obstacle Avoidance for UAS in Continuous Action Space Using Deep Reinforcement Learningcited by 2
  35. 2022SoLo T-DIRL: Socially-Aware Dynamic Local Planner based on Trajectory-Ranked Deep Inverse Reinforcement Learningcited by 2
  36. 2023SG-LSTM: Social Group LSTM for Robot Navigation Through Dense Crowdscited by 2
  37. 2023Decentralized Social Navigation with Non-Cooperative Robots via Bi-Level Optimizationcited by 2
  38. 2024Self-organized free-flight arrival for urban air mobilitycited by 2

50 most cited of 104 All 104 (JSON)