MA-DV${2}$F: A Multi-Agent Navigation Framework Using Dynamic Velocity Vector Field
Yining Ma, Qadeer Khan, Daniel Cremers
Abstract
In this paper, we propose MA-DV <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$^{2}$</tex-math></inline-formula> F: Multi-Agent Dynamic Velocity Vector Field. It is a framework for simultaneously controlling a group of vehicles in challenging environments. DV <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$^{2}$</tex-math></inline-formula> F is generated for each vehicle independently and provides a map of reference orientation and speed that a vehicle must attain at any point on the navigation grid such that it safely reaches its target. The field is dynamically updated depending on the speed and proximity of the ego-vehicle to other agents. This dynamic adaptation of the velocity vector field allows prevention of imminent collisions. Experimental results show that MA-DV <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$^{2}$</tex-math></inline-formula> F outperforms concurrent methods in terms of safety, computational efficiency and accuracy in reaching the target when scaling to a large number of vehicles. Project page for this work can be found here: <uri xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">https://yininghase.github.io/MA-DV2F/</uri>
BibTeX
@inproceedings{ral2025_madv2famultiagen,
title = {MA-DV${2}$F: A Multi-Agent Navigation Framework Using Dynamic Velocity Vector Field},
author = {Yining Ma and Qadeer Khan and Daniel Cremers},
booktitle = {RA-L 2025},
year = {2025}
}