A Framework for Motion Planning of Cooperative Mobile Robots

This paper addresses the problem of planning and controlling the actions of groups of mobile robots during the execution of cooperative tasks. We propose a general framework that transforms several cooperative tasks to the same basic problem, thus enabling a single solution for all of them. Using this approach a single team of robots is capable to perform many different tasks by providing each robot with a single suite of algorithms parameterized only by the particularities of the task at hand. We present experimental results with a group of car-like robots using omnidirectional cameras as their only sensor.