Asynchronous Flooding Planner for Multi-Robot Navigation

Within the topic of coordinated navigation of multi-robot systems (MRS) the problem may occur that there is a difference between where the robots are able to move to and where they are allowed to move. To deal with such constraints we propose a roadmap approach where those two different kinds of information are merged. So we encounter the problem of connecting several target positions with valid paths in a graph structure. Therefore, an asynchronous, parallel search algorithm is developed to find a passable and allowed way to the target positions. In addition to static planning we show that our search algorithm is able to deal with dynamic graphs and, to some extend, unknown environments.