Motion planning for multiple mobile robots using dynamic networks

摘要: A new motion planning framework is presented that enables multiple mobile robots with limited ranges of sensing and communication to maneuver achieve goals safely in dynamic environments. To combine the respective advantages centralized de-centralized planning, this based on concept within robot networks. As move their environment, localized groups form networks, which world models can be shared. Whenever a network formed, information then becomes available all network. With information, each uses fast, planner compute coordinated trajectories fly. Planning over several networks decentralized distributed. Both simulated real-robot experiments have validated approach.