A fully distributed motion coordination strategy for multi-robot systems with local information
This addresses motion planning for multi-robot systems in shared workspaces, but it appears incremental as it builds on existing cell decomposition methods.
The paper tackles the online motion coordination problem for mobile robots with local information and constraints by proposing a fully distributed strategy, which is verified through simulation.
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only local view and local information, a fully distributed multi-robot motion coordination strategy is proposed. Building on top of a cell decomposition, a conflict detection algorithm is presented first. Then, a rule is proposed to assign dynamically a planning order to each pair of neighboring robots, which is deadlock-free. Finally, a two-step motion planning process that combines fixed-path planning and trajectory planning is designed. The effectiveness of the resulting solution is verified by a simulation example.