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This paper presents a new approach to formation forming of multiple mobile robots with decentralized motion planning. When the robots enter the required formation, there exists the formation-structure constraint, which causes disorder or even deadlock of the formation. A dynamic priority strategy is developed to solve the problem of the formation-structure constraint, and coordinate the robots to...
This paper presents a decentralized motion planning methodology for multiple mobile robots. A novel three-step local-constraint-path planner (LCPP) is proposed to perform path planning for each robot while considering kinematic constraint and online implement efficiency. A priority-based strategy is employed in the planning to avoid mutual collisions amongst the robots. Simulations are performed on...
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