Decentralized motion planning for multiple robots subject to sensing and communication constraints
Guilherme A. S. Pereira, Aveek Kumar Das, R. Kumar, Mário F. M. Campos · Scholarly Commons (University of Pennsylvania) · 2003
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.