Strategic Pseudo-Goal Perturbation for Deadlock-Free Multi-Agent Navigation in Social Mini-Games

TL;DR

This paper presents a novel Strategic Pseudo-Goal Perturbation (SPGP) technique that effectively resolves deadlocks in multi-agent navigation by strategically guiding agents through pseudo-goals, improving safety and efficiency in social mini-games.

Contribution

The paper introduces SPGP, a new deadlock resolution method that integrates strategic pseudo-goal perturbation with Safety Barrier Certificates for multi-agent navigation.

Findings

SPGP reduces deadlock occurrences significantly.

SPGP improves navigation safety and efficiency.

Experimental results validate the effectiveness of SPGP.

Abstract

This work introduces a Strategic Pseudo-Goal Perturbation (SPGP) technique, a novel approach to resolve deadlock situations in multi-agent navigation scenarios. Leveraging the robust framework of Safety Barrier Certificates, our method integrates a strategic perturbation mechanism that guides agents through social mini-games where deadlock and collision occur frequently. The method adopts a strategic calculation process where agents, upon encountering a deadlock select a pseudo goal within a predefined radius around the current position to resolve the deadlock among agents. The calculation is based on controlled strategic algorithm, ensuring that deviation towards pseudo-goal is both purposeful and effective in resolution of deadlock. Once the agent reaches the pseudo goal, it resumes the path towards the original goal, thereby enhancing navigational efficiency and safety. Experimental results demonstrates SPGP's efficacy in reducing deadlock instances and improving overall system throughput in variety of multi-agent navigation scenarios.