Robust Anticipatory Stigmergic Collision Avoidance in Multi-Agent Systems

Anticipatory Stigmergic Collision Avoidance (ASCA) is a reciprocal collision avoidance model in which agents interact by indicating intended future paths to other agents in their local environment. Other agents can then incorporate that information to guide their path planning decisions. Additionally, constraints such as restricted movements and noise are incorporated. Our evaluation showed that ASCA is consistently more robust in noisy environments in which transmitted information can be lost or degraded.