  While current systems for autonomous robot navigation can produce safe and
efficient motion plans in static environments, they usually generate suboptimal
behaviors when multiple robots must navigate together in confined spaces. For
example, when two robots meet each other in a narrow hallway, they may either
turn around to find an alternative route or collide with each other. This paper
presents a new approach to navigation that allows two robots to pass each other
in a narrow hallway without colliding, stopping, or waiting. Our approach,
Perceptual Hallucination for Hallway Passing (PHHP), learns to synthetically
generate virtual obstacles (i.e., perceptual hallucination) to facilitate
passing in narrow hallways by multiple robots that utilize otherwise standard
autonomous navigation systems. Our experiments on physical robots in a variety
of hallways show improved performance compared to multiple baselines.
