A formalization proposal of Motion Planning Coordination for Robot Teams in Competitive Environments

In a multi-robot system, the outcome depends significantly on how well the motion of individual robots are coordinated. The research challenge lies in formulating computational paradigms and strategies that allow a realtime search for optimal coordinated motions of individual robots under excessive search complexity. In this paper, the concept of the “mappeable zone” is proposed which represent a set of environment positions that the robot or a group or robots can map first, should it choose to do so at time t against the same attempt of another robot or a group of robots. A systematic way of computing various forms of mappealbe zones is presented. Based on such concept, a group of robots can identify whether an object can be mapped or not, and which strategy is appropiated for the group. The coordinated motions of individual robots are then determined based on the chosen strategy. Some simulation