Local navigation strategies for a team of robots

摘要

Whenever a mobile robot has to deal with an environment that is totally or partially unknown or dynamically changing, local navigation strategies are very important for the robot to successfully achieve its goals. Unfortunately, local navigation algorithms that have been proposed in the literature offer poor performance (or even fail) whenever the geometry of the free space in which the robot is requested to operate increases its complexity. In this paper, we deal with a team composed of many robots, and we show how robots navigating within an unknown environment with local communication capabilities (only line-of-sight communication is allowed) can cooperate by helping each other to achieve their own goals.