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This paper presents a reactive algorithm for multi-robot cooperative path planning. The algorithm integrates the real-time collision detection process with linear navigation functions. The collision detection strategy is based on an improved version of the swept volumes method that uses the relative kinematics of the robots in addition to the geometric considerations of the paths. The swept volumes...
This paper suggests a method for autonomous wheeled mobile robots navigation under the nonholonomic constraint. The suggested method uses navigation functions that are based on the polar kinematics equations, where the steering angle and the orientation angle of the robot are included in an exponential function of the line of sight angle. Another control law is suggested for the robot's linear velocity...
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