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In this paper, the multi-robot motion coordination planning problem is addressed. Although a centralized prioritized planning strategy can be used to solve the problem, we rather consider a decentralized variant, which is a more suitable for a robotic system of cooperating unmanned aerial vehicles (UAVs) due to communication limitations, privacy concerns, and a better exploitation of computational resources distributed among the individual robots. However, the existing decentralized prioritizeddoi:10.1109/iros.2013.6696903 dblp:conf/iros/CapNSFV13 fatcat:lxiz3vlzdrh77mapzz2nrzjbju