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TRACER: Adaptive Multi-Robot Social Navigation via Joint Human-Response Prediction and Interaction-Aware Replanning

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Multi-robot navigation in human-shared spaces is inherently interactive: coordinated robot motions influence how nearby entities respond, while those responses provide valuable information for subsequent robot decisions. However, existing methods typically address action-conditioned prediction, multi-robot planning, or online adaptation separately, and therefore lack a unified mechanism for modeling joint robot-entity interactions and adapting future decisions from executed interaction outcomes. To address this gap, we propose TRACER, a bi-directional receding-horizon framework that closes the

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