mlsanityData to 7 Oct 2026

Communication-Critical Planning via Multi-Agent Trajectory Exchange

arXiv 2303.06080 ↗First posted 10 Mar 2023cs.RO cs.CVcited by 2

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Abstract (arXiv)

This paper addresses the task of joint multi-agent perception and planning, especially as it relates to the real-world challenge of collision-free navigation for connected self-driving vehicles. For this task, several communication-enabled vehicles must navigate through a busy intersection while avoiding collisions with each other and with obstacles. To this end, this paper proposes a learnable costmap-based planning mechanism, given raw perceptual data, that is (1) distributed, (2) uncertainty-aware, and (3) bandwidth-efficient. Our method produces a costmap and uncertainty-aware entropy map to sort and fuse candidate trajectories as evaluated across multiple-agents. The proposed method demonstrates several favorable performance trends on a suite of open-source overhead datasets as well as within a novel communication-critical simulator. It produces accurate semantic occupancy forecasts as an intermediate perception output, attaining a 72.5% average pixel-wise classification accuracy. By selecting the top trajectory, the multi-agent method scales well with the number of agents, reducing the hard collision rate by up to 57% with eight agents compared to the single-agent version.

Key facts. Cited by 2 papers in the map (data through 7 Oct 2026). Builds on 27 of its 35 references that are in the map. First posted on arXiv 10 Mar 2023.

Builds on

27 of 35 references.

References · 27

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15 more
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Cited by year

Citing papers per year: 2025: 2.

2 papers.

  1. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  2. 2025CoPAD : Multi-source Trajectory Fusion and Cooperative Trajectory Prediction with Anchor-oriented Decoder in V2X Scenarioscited by 0