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@Article{smg,
  author   = {Rohan Chandra and Vrushabh Zinage and Efstathios Bakolas and Peter Stone and Joydeep Biswas},
  title    = {Deadlock-free, Safe, and Decentralized Multi-Robot Navigation in Social Mini-Games via Discrete-Time Control Barrier Functions},
  journal = {Autonomous Robots},
  year     = {2025},
  abstract = {We present an approach to ensure safe and deadlock-free navigation for
decentralized multi-robot systems operating in constrained environments,
including doorways and intersections. Although many solutions have been proposed
that ensure safety and resolve deadlocks, optimally preventing deadlocks in a
minimally invasive and decentralized fashion remains an open problem. We first
formalize the objective as a non-cooperative, non-communicative, partially
observable multi-robot navigation problem in constrained spaces with multiple
conflicting agents, which we term as social mini-games. Formally, we solve a
discrete-time optimal receding horizon control problem leveraging control barrier
functions for safe long-horizon planning. Our approach to ensuring liveness rests
on the insight that there exists barrier certificates that allow each robot to
preemptively perturb their state in a minimally-invasive fashion onto liveness
sets i.e. states where robots are deadlock-free. We evaluate our approach in
simulation as well on physical robots using F1/10 robots, a Clearpath Jackal, as
well as a Boston Dynamics Spot in a doorway, hallway, and corridor intersection
scenario. Compared to both fully decentralized and centralized approaches with
and without deadlock resolution capabilities, we demonstrate that our approach
results in safer, more efficient, and smoother navigation, based on a
comprehensive set of metrics including success rate, collision rate, stop time,
change in velocity, path deviation, time-to-goal, and flow rate.
  },
}