Distributed Multi-agent Navigation Based on ORCA and MAPF solving

Theta* for geometric path planning. ORCA for path following with collision avoidance. Ad-hoc deadlock detection mechanism. MAPF formation + MAPF solving (with a combination of Push and Rotate and ECBS). The paper is accepted to CASE 2021. The pre-print is available: ​https://arxiv.org/abs/2107.00246