Decentralized supervisory control of a set of mobile robots

We consider a pool of mobile vehicles with unicycle-like kinematics. During the motion and on the basis of the state variables a function defines if there is the need of coordinating the motion of a set of vehicles. When a group of mobile robots establish the need of coordination, they form a “team”. The birth of a team is an event. A sequence of intermediate targets is then assigned to each vehicle, in order to overcome the congestion situation.