DOBB: Dynamic Oriented Bounding Boxes for Multi-Agent Collision Avoidance under State Uncertainty and Heterogeneous Dynamics

원문 초록

Learning-based decentralized collision avoidance must remain reliable under state-estimation uncertainty and heterogeneous agent dynamics. Existing methods typically address these factors through training-domain variation or by exposing uncertainty and capability estimates to the policy at runtime. However, both leave the policy to infer how these quantities should alter the physical separation required for safe interaction, which can couple collision-avoidance behavior to relationships learned from the training distribution. We introduce the Dynamic Oriented Bounding Box (DOBB), an online geometric representation that maps the current state estimate, uncertainty, and agent-specific response characteristics into a dynamic, direction-dependent safety margin. We derive geometric features that jointly characterize the relative configuration and severity of interactions between agents' DOBBs, along with a reward function that preserves the physical interpretation of those interactions. Across four evaluation environments, DOBB achieves the lowest mean total failure rate of 2.6%. This performance persists under out-of-distribution shifts in actuation dynamics and state-estimation uncertainty, with collision-based failure remaining at or below 2.3% in every tested condition. We attribute this robustness to the geometric abstraction of the safety margin, which is less coupled to the specific uncertainty and actuation regimes encountered during training.