[2603.04659] GIANT - Global Path Integration and Attentive Graph Networks for Multi-Agent Trajectory Planning

Computer Science > Robotics arXiv:2603.04659 (cs) [Submitted on 4 Mar 2026] Title:GIANT - Global Path Integration and Attentive Graph Networks for Multi-Agent Trajectory Planning Authors:Jonas le Fevre Sejersen, Toyotaro Suzumura, Erdal Kayacan View a PDF of the paper titled GIANT - Global Path Integration and Attentive Graph Networks for Multi-Agent Trajectory Planning, by Jonas le Fevre Sejersen and 1 other authors View PDF HTML (experimental) Abstract:This paper presents a novel approach to multi-robot collision avoidance that integrates global path planning with local navigation strategies, utilizing attentive graph neural networks to manage dynamic interactions among agents. We introduce a local navigation model that leverages pre-planned global paths, allowing robots to adhere to optimal routes while dynamically adjusting to environmental changes. The models robustness is enhanced through the introduction of noise during training, resulting in superior performance in complex, dynamic environments. Our approach is evaluated against established baselines, including NH-ORCA, DRL-NAV, and GA3C-CADRL, across various structurally diverse simulated scenarios. The results demonstrate that our model achieves consistently higher success rates, lower collision rates, and more efficient navigation, particularly in challenging scenarios where baseline models struggle. This work offers an advancement in multi-robot navigation, with implications for robust performance in complex, d...