CoBL-Diffusion: 制御バリア関数とリアプノフ関数を用いた動的環境における拡散モデルベースの条件付きロボット計画

原文アブストラクト

Equipping autonomous robots with the ability to navigate safely and efficiently around humans is a crucial step toward achieving trusted robot autonomy. However, generating robot plans while ensuring safety in dynamic multi-agent environments remains a key challenge. Building upon recent work on leveraging deep generative models for robot planning in static environments, this paper proposes CoBL-Diffusion, a novel diffusion-based safe robot planner for dynamic environments. CoBL-Diffusion uses Control Barrier and Lyapunov functions to guide the denoising process of a diffusion model, iteratively refining the robot control sequence to satisfy the safety and stability constraints. We demonstrate the effectiveness of the proposed model using two settings: a synthetic single-agent environment and a real-world pedestrian dataset. Our results show that CoBL-Diffusion generates smooth trajectories that enable the robot to reach goal locations while maintaining a low collision rate with dynamic obstacles.