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arXiv · 2504.20947

Opinion-Driven Decision-Making for Multi-Robot Navigation through Narrow Corridors

Norah K. Alghamdi·Shinkyu Park
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Abstract

We propose an opinion-driven navigation framework for multi-robot traversal through a narrow corridor. Our approach leverages a multi-agent decision-making model known as the Nonlinear Opinion Dynamics (NOD) to address the narrow corridor passage problem, formulated as a multi-robot navigation game. By integrating the NOD model with a multi-robot path planning algorithm, we demonstrate that the framework effectively reduces the likelihood of deadlocks during corridor traversal. To ensure scalability with an increasing number of robots, we introduce a game reduction technique that enables efficient coordination in larger groups. Extensive simulation studies are conducted to validate the effectiveness of the proposed approach.

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Norah K. Alghamdi, Shinkyu Park. 2025-04-29. Opinion-Driven Decision-Making for Multi-Robot Navigation through Narrow Corridors. https://arxiv.org/abs/2504.20947

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