A New Object Path Planner for the Box Pushing Problem

The box-pushing problem, where a community of mobile robots must move an object in cluttered environments, represents a very interesting challenge for the development of coordination schemes for multiagent systems, with multiple practical applications (e.g. industrial processes automatization, people rescue, movement of dangerous objects). In this paper we introduce a new path-planner so the resulting path of the object facilitates its manipulation by the robots to accomplish the task.