Distributed approaches to motion planning and control in multi-robot systems

Abstract

A multi-robot system is a system containing multiple robots which are moving around a given environment to accomplish tasks cooperatively. Motion planning and control is one of the most important issues in multi-robot systems. On one hand, as an individual, a robot is expected to make collision-free motion under its own controller; on the other hand, as a whole system, a robot is expected to move cooperatively with others. Hence, in this thesis, we focus on distributed approaches to motion planning and control, which not only guarantee flexibility and scalability of the systems, but also allow negotiation among robots.