Virtual Traffic Lights for Multi-Robot Navigation: Decentralized Planning with Centralized Conflict Resolution. - Sagar Gupta; Thanh Vinh Nguyen; Thieu Long Phan; Vidul Attri; Archit Gupta; Niroshinie Fernando; Kevin Lee 006; Seng W. Loke; Ronny Kutadinata; Benjamin Champion; Akansel Cosgun (CoRR, 2025)