2.5  Multi-Agent Traffic and Avoidance

2.5.1 Outline

• Why single-agent plans fail with other robots; simple contention models
• Priority rules, time-expanded grids, and staggered starts as lightweight fixes
• Brief look at joint planning vs decentralized heuristics; cost/complexity tradeoffs
• Mini-experiment: add another robot to the warehouse and measure delays/collisions
• Foreshadow: RL and control methods to handle interaction and uncertainty