Precise coordinated planning over a forward time window enables safe and highly efficient motion when many robots must work together in tight spaces, but this would normally require centralised control of all devices which is difficult to scale. We demonstrate GBP Planning, a new purely distributed technique based on Gaussian Belief Propagation for multi-robot planning problems, formulated by a generic factor graph defining dynamics and collision constraints over a forward time window. In simulations, we show that our method allows high performance collaborative planning where robots are able to cross each other in busy, intricate scenarios. They maintain shorter, quicker and smoother trajectories than alternative distributed planning techniques even in cases of communication failure. We encourage the reader to view the accompanying video demonstration at https://youtu.be/8VSrEUjH610.

翻译：许多机器人必须在紧凑的空间里一起工作时,对前方时间窗口的精确协调规划能够提供安全和高效的动作,但通常需要集中控制所有难以扩大的装置。我们展示了基于高西亚信仰促进多机器人规划问题的纯粹分布式新技术,即ZGB规划。我们鼓励读者在https://youtu.be/8VSrEUJH610上观看伴随的视频演示,网址是https://youtu.be/8VSrEUJH610。