{"id":"https://openalex.org/W4416748726","doi":"https://doi.org/10.1109/iros60139.2025.11246543","title":"Decentralized Uncertainty-Aware Multi-Agent Collision Avoidance With Model Predictive Path Integral <sup>*</sup>","display_name":"Decentralized Uncertainty-Aware Multi-Agent Collision Avoidance With Model Predictive Path Integral <sup>*</sup>","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748726","doi":"https://doi.org/10.1109/iros60139.2025.11246543"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246543","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246543","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087318535","display_name":"Stepan Dergachev","orcid":"https://orcid.org/0000-0001-8858-2831"},"institutions":[{"id":"https://openalex.org/I118501908","display_name":"National Research University Higher School of Economics","ror":"https://ror.org/055f7t516","country_code":"RU","type":"education","lineage":["https://openalex.org/I118501908"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Stepan Dergachev","raw_affiliation_strings":["FRC CSC RAS and HSE University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FRC CSC RAS and HSE University","institution_ids":["https://openalex.org/I118501908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056981356","display_name":"Konstantin Yakovlev","orcid":"https://orcid.org/0000-0002-4377-321X"},"institutions":[{"id":"https://openalex.org/I33375025","display_name":"Airbus (India)","ror":"https://ror.org/05tw0wf88","country_code":"IN","type":"company","lineage":["https://openalex.org/I33375025","https://openalex.org/I4210121748"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Konstantin Yakovlev","raw_affiliation_strings":["FRC CSC RAS and AIRI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FRC CSC RAS and AIRI","institution_ids":["https://openalex.org/I33375025"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32529692,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"12456","last_page":"12463"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8499000072479248,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8499000072479248,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.0737999975681305,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.02019999921321869,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7222999930381775},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6523000001907349},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5655999779701233},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5454999804496765},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5379999876022339},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.521399974822998},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4948999881744385},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45739999413490295},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.451200008392334},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4300000071525574}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7222999930381775},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6565999984741211},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6523000001907349},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5655999779701233},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5454999804496765},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5379999876022339},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.521399974822998},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4948999881744385},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45739999413490295},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.451200008392334},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4300000071525574},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.42590001225471497},{"id":"https://openalex.org/C2777742833","wikidata":"https://www.wikidata.org/wiki/Q1964083","display_name":"Reciprocal","level":2,"score":0.40529999136924744},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.3953000009059906},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.37540000677108765},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.3630000054836273},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3562999963760376},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.35440000891685486},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.33570000529289246},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.3280999958515167},{"id":"https://openalex.org/C52740198","wikidata":"https://www.wikidata.org/wiki/Q1539564","display_name":"Importance sampling","level":3,"score":0.3260999917984009},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3147999942302704},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3111000061035156},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3075999915599823},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.30399999022483826},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3012999892234802},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2888999879360199},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.2824000120162964},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27390000224113464},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2639000117778778},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.26269999146461487},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.26080000400543213},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.25519999861717224},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.2540999948978424},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.25029999017715454}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246543","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246543","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320327494","display_name":"Ministry of Science and Higher Education of the Russian Federation","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W178419168","https://openalex.org/W192919555","https://openalex.org/W1600840238","https://openalex.org/W1976517551","https://openalex.org/W2002440441","https://openalex.org/W2072337003","https://openalex.org/W2097639646","https://openalex.org/W2117211893","https://openalex.org/W2150765347","https://openalex.org/W2158400962","https://openalex.org/W2410617946","https://openalex.org/W2573311857","https://openalex.org/W2738778707","https://openalex.org/W2775408149","https://openalex.org/W2790268363","https://openalex.org/W2890001928","https://openalex.org/W2909324603","https://openalex.org/W2963722165","https://openalex.org/W2963821308","https://openalex.org/W2981759303","https://openalex.org/W2984211142","https://openalex.org/W3007469703","https://openalex.org/W3031798691","https://openalex.org/W3127454018","https://openalex.org/W3207619101","https://openalex.org/W3213530861","https://openalex.org/W4210521410","https://openalex.org/W4226176749","https://openalex.org/W4314946929","https://openalex.org/W4382935895","https://openalex.org/W4383109344","https://openalex.org/W4401763796","https://openalex.org/W4406047022","https://openalex.org/W4410949872"],"related_works":[],"abstract_inverted_index":{"Decentralized":[0],"multi-agent":[1,62],"navigation":[2,63],"under":[3],"uncertainty":[4],"is":[5,149],"a":[6,36,48,76],"complex":[7],"task":[8],"that":[9,20,39,118],"arises":[10],"in":[11,129,135],"numerous":[12],"robotic":[13,144],"applications.":[14],"It":[15],"requires":[16],"collision":[17],"avoidance":[18],"strategies":[19],"account":[21],"for":[22],"both":[23],"kinematic":[24],"constraints,":[25],"sensing":[26],"and":[27,60,106,114],"action":[28],"execution":[29],"noise.":[30],"In":[31],"this":[32],"paper,":[33],"we":[34],"propose":[35],"novel":[37],"approach":[38,82,120],"integrates":[40],"the":[41,71,136],"Model":[42],"Predictive":[43],"Path":[44],"Integral":[45],"(MPPI)":[46],"with":[47,103],"probabilistic":[49,66],"adaptation":[50],"of":[51],"Optimal":[52],"Reciprocal":[53],"Collision":[54],"Avoidance.":[55],"Our":[56],"method":[57],"ensures":[58],"safe":[59],"efficient":[61],"by":[64],"incorporating":[65],"safety":[67,94],"constraints":[68],"directly":[69],"into":[70],"MPPI":[72],"sampling":[73],"process":[74],"via":[75],"Second-Order":[77],"Cone":[78],"Programming":[79],"formulation.":[80],"This":[81],"enables":[83],"agents":[84],"to":[85,143],"operate":[86],"independently":[87],"using":[88],"local":[89],"noisy":[90],"observations":[91],"while":[92,123],"maintaining":[93],"guarantees.":[95],"We":[96],"validate":[97],"our":[98,119],"algorithm":[99],"through":[100],"extensive":[101],"simulations":[102],"differential-drive":[104],"robots":[105],"benchmark":[107],"it":[108],"against":[109],"state-of-the-art":[110],"methods,":[111],"including":[112],"ORCA-DD":[113],"B-UAVC.":[115],"Results":[116],"demonstrate":[117],"outperforms":[121],"them":[122],"achieving":[124],"high":[125],"success":[126],"rates,":[127],"even":[128],"densely":[130],"populated":[131],"environments.":[132],"Additionally,":[133],"validation":[134],"Gazebo":[137],"simulator":[138],"confirms":[139],"its":[140],"practical":[141],"applicability":[142],"platforms.":[145],"A":[146],"source":[147],"code":[148],"available":[150],"at:":[151],"http://github.com/PathPlanning/MPPI-Collision-Avoidance.":[152]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}