Cooperative Motion Coordination Amidst Dynamic Obstacles
The cooperative leader following task for multi-robot teams is introduced and discussed. We describe the design and implementation of a distributed technique to coordinate team level and robot level behaviors for this task, as well as a multi-threaded framework for the implementation of a heterogeneous multi-robot system. This approach enables robots to remain in formation as they deal with other obstacles that may appear within the formation. We describe how the robot behaviors are realized and scheduled. The proposed approach has been run and validated on a team of robots performing in both indoor and outdoor environments.
KeywordsMobile Robot Obstacle Avoidance Differential Global Position System Differential Global Position System Team Level
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