Coordination between autonomous robots

AbstractIn a multirobot system, each robot can choose between two basic behaviors: obstacle avoidance and conflict resolution behaviors. A local supervisor (LS) is used to switch between the two behaviors. Coordination between robots is necessary to avoid collision: each robot communicates to the nearest robot one angular datum used for concerted trajectory modification. In our implementation, the parameters for the LS and the conflict resolution algorithm are encoded into an integer string, and a micro-GA (μGA) is used for optimization