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arXiv · 2601.10725

Multi-Agent Formation Navigation Using Diffusion-Based Trajectory Generation

Hieu Do Quang·Chien Truong-Quoc·Quoc Van Tran
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Abstract

This paper introduces a diffusion-based planner for leader--follower formation control in cluttered environments. The diffusion policy is used to generate the trajectory of the midpoint of two leaders as a rigid bar in the plane, thereby defining their desired motion paths in a planar formation. While the followers track the leaders and form desired foramtion geometry using a distance-constrained formation controller based only on the relative positions in followers' local coordinates. The proposed approach produces smooth motions and low tracking errors, with most failures occurring in narrow obstacle-free space, or obstacle configurations that are not in the training data set. Simulation results demonstrate the potential of diffusion models for reliable multi-agent formation planning.

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Hieu Do Quang, Chien Truong-Quoc, Quoc Van Tran. 2025-12-24. Multi-Agent Formation Navigation Using Diffusion-Based Trajectory Generation. https://arxiv.org/abs/2601.10725

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