This paper describes a method for coordinating the motions of a group of robots following predefined paths in a common workspace. Coordination Diagrams (CD) are used for representing the possible collisions among the robots. We propose an algorithm that computes a complete coordination plan for the overall missions that each vehicle has to execute. The algorithm generates a set of possible coordination plans and then gives the optimal one. Previous works apply traditional path planning techniques (such as D* or A*) to compute a coordinated motion. However these techniques do not take into account the fact that the CD has a cylindrical structure. This features enables our algorithm to explore the CD in a more efficient way.

Coordination of multiple robots with assigned paths / Olmi, R.; Secchi, C.; Fantuzzi, C.. - 7:1(2010), pp. 312-317. ((Intervento presentato al convegno 7th Symposium on Intelligent Autonomous Vehicles tenutosi a Lecce nel 2010 [10.3182/20100906-3-it-2019.00055].

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