Decentralized motion planning for multiple robots subject to sensing and communication constraints
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motion control
dynamic constraints
runtime replanning
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We address the problem of planning the motion of a team of mobile robots subject to constraints imposed by sensors and the communication network. Our goal is to develop a decentralized motion control system that leads each robot to their individual goals while keeping connectivity with the neighbors. We present experimental results with a group of car-like robots equipped with omnidirectional vision systems.
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Postprint version. Published in Multi-Robot Systems: From Swarms to Intelligent Automata, Volume II, Proceedings of the 2003 International Workshop on Multi-Robot Systems, pages 267-278.
Postprint version. Published in Proceedings of the Second Multi-Robot Systems Workshop, Volume 14, Issue 1, February 2004, pages 267-278. Publisher URL: http://www.verlab.dcc.ufmg.br/projetos/gpereira/mrsw2003.pdf