Coordination and control of a team of mobile robots

In this paper, the coordinate motion of a team of mobile robots is dealt with. The problem is first stated in a general way and then faced by means of a team-control theory approach. As a result we have a method which can span from complete to null coordination as well as from classical trajectory planning techniques to the so-called 'best first decision', and generates feedback control laws. Moreover, considering a particular instance of the method, a solution is proposed which generalizes the classical approaches based on conservative force fields, and can be implemented in real-time