The motion coordination in the C-Space-Time with a multi-layered MRS architecture

In this paper we present a layered architecture for multirobot motion coordination. The purpose is to control and coordinate autonomous mobile robot with generic shapes and kinematics in a priori known environment. It is a centralized framework, where a leader robot (or a supervisor) plans the motion of all the robots and makes them moving synchronously. The architecture is layered, self-similar and modularized, where each module is realized with concurrent threads. The underlying motion planner is based on an artificial potential fields method applied on a discretized C-space-time.