Closed loop motion planning of cooperating mobile robots using graph connectivity

Guilherme Augusto Silva Pereira, Vijay Kumar, Mario Fernando Montenegro Campos
2008 Robotics and Autonomous Systems  
In this paper we address the problem of planning the motion of a team of cooperating mobile robots subject to constraints on relative configuration imposed by the nature of the task they are executing. We model constraints between robots using a graph where each edge is associated with the interaction between two robots and describes a constraint on relative configurations. We develop a decentralized motion control system that leads each robot to their individual goals while maintaining the
more » ... traints specified on the graph. We present experimental results with groups of holonomic and non-holonomic mobile robots.
doi:10.1016/j.robot.2007.08.003 fatcat:k44xjyu6y5cd7easqxmdwkht2i