Pathfinding in multi-robot systems: Solution and applications

In the paper a general approach is given to the solution of the findpath problem in multi-robot systems based on a suitable structuring of the hierarchical overall system. The method developed uses a systematic design procedure for multi-robot systems which includes the design of the hierarchical coordinator for on-line collision avoidance. The efficiency of this new approach is demonstrated by several cases like the interaction of three stationary robots with different obstacles as well as by the interaction of mobile robots and moving obstacles.