MRPP
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SPARC: Spatial-Aware Path Planning via Attentive Agent Communication
arXiv:2603.02845v5 Announce Type: replace Abstract: Efficient communication is critical for decentralized Multi-Robot Path Planning (MRPP), yet existing learned communication methods treat all neighboring robots equally regardless of their spatial proximity, leading to diluted attention in congested regions where coordination matters most. We propose Relation enhanced Multi Head Attention (RMHA), a communication mechanism that explicitly embeds pairwise Manhattan distances into the attention...