Abstract
Before a team of robots moves, each proposed step must be checked for collisions with other robots and with obstacles. We present CollisionGAT, a graph-attention network that reads the current and proposed states of moving agents together with locally relevant stationary obstacles and returns one collision-risk score per moving agent. Any controller can use these scores to accept, repair, replan, or postpone a proposed step. We mount CollisionGAT on a continuous path-following controller and on GATeD, an obstacle-blind D* Lite planner that uses typed vetoes to update its planning graphs. Exact geometric checks supply the training labels and independently audit every executed step.
Keywords
Subject
Publication details
- Journal
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- Open access
- Green open access
Cite this article
APA 7
Debbas, A., Meriaux, E., & Dudek, G. (2026). CollisionGAT: Controller-Agnostic One-Step Collision Screening for Multi-Agent Motion. https://omanscience.com/en/articles/collisiongat-controller-agnostic-one-step-collision-screening-for-multi-agent-motion
MLA 9
Debbas, Alan, et al. "CollisionGAT: Controller-Agnostic One-Step Collision Screening for Multi-Agent Motion." https://omanscience.com/en/articles/collisiongat-controller-agnostic-one-step-collision-screening-for-multi-agent-motion.
Chicago (author–date)
Debbas, Alan, Edwin Meriaux, and Gregory Dudek. 2026. "CollisionGAT: Controller-Agnostic One-Step Collision Screening for Multi-Agent Motion." https://omanscience.com/en/articles/collisiongat-controller-agnostic-one-step-collision-screening-for-multi-agent-motion.
Harvard
Debbas, A., Meriaux, E. and Dudek, G. (2026) 'CollisionGAT: Controller-Agnostic One-Step Collision Screening for Multi-Agent Motion', Available at: https://omanscience.com/en/articles/collisiongat-controller-agnostic-one-step-collision-screening-for-multi-agent-motion.
Vancouver
Debbas A, Meriaux E, Dudek G. CollisionGAT: Controller-Agnostic One-Step Collision Screening for Multi-Agent Motion. https://omanscience.com/en/articles/collisiongat-controller-agnostic-one-step-collision-screening-for-multi-agent-motion
IEEE
A. Debbas, E. Meriaux, and G. Dudek, "CollisionGAT: Controller-Agnostic One-Step Collision Screening for Multi-Agent Motion," https://omanscience.com/en/articles/collisiongat-controller-agnostic-one-step-collision-screening-for-multi-agent-motion.