TrajEdit: FlowEditとCBF安全フィルタによるリアルタイム流れマッチング軌道適応
TrajEdit: Real-Time Flow-Matching Trajectory Adaptation via FlowEdit and CBF Safety Filter
追跡者から逃げる2D追跡回避問題で、流れマッチングと軌道編集(FlowEdit)、制御バリア関数による安全フィルタを組み合わせ、毎回軌道を再生成せず残り部分を適応させる階層型プランナを提案し、計算時間を削減しつつ高い成功率を達成した。
著者: Wondmgezahu Teshome, Arya Honarpisheh, Octavia Camps, Mario Sznaier
分類: cs.RO
原文アブストラクト
Safe, real-time motion planning is especially difficult when a dynamic obstacle actively pursues the ego agent, requiring rapid adaptation as the environment changes. We present TrajEdit, a hierarchical trajectory planner for pursuit-evasion that combines flow matching, trajectory editing, and safety filtering. Rather than regenerating trajectories from scratch at every step, TrajEdit follows the current plan under nominal conditions and adapts its remaining portion through FlowEdit as the pursuer approaches, and falls back to a control barrier function safety filter if the adversarial agent is within a safety threshold. Our use of FlowEdit for trajectory editing reduces computation time while maintaining a comparable success rate. We evaluate TrajEdit in 2D pursuit-evasion with static obstacles and an adversarial pursuer, demonstrating high success rates with low capture and collision rates, while achieving computational time savings over full replanning baselines.