Coordinated motion planning of multiple robots in multi-point dynamic aggregation task

A kind of typical task model, namely Multi-Point Dynamic Aggregation (MPDA), is proposed in this paper for systematically studying the cooperation and coordination methodologies of multiple robots in complex tasks. MPDA refers to that multiple robots which are located in different places aggregate to their task points to complete their tasks cooperatively, and the tasks are completed when the state of each task point reaches to a value of hope. In the MPDA task, a distributed motion planning is proposed in this paper for the motion planning of multiple robots. Simulation results show that the algorithm can effectively solve the motion planning problem of multiple robots in the MPDA task. It is also demonstrated that all robots can effectively avoid collisions with obstacles in the environment and other robots, and cooperatively complete the MPDA task efficiently.