Abstract
This paper deals with the planar navigation problem of a swarm of robotic agents within an obstacle cluttered workspace, under time varying formation specifications. The robots are considered homogeneous and achieve the desired formation by operating inside a moving and shape-varying region. The complexity of the cluttered workspace is confronted by the transformation of the original planar world into a punctured unit disk. The navigation of the swarm is accomplished by a simultaneous path and motion planning strategy with regards to the centroid of the desired region. Towards this direction, a motion planner based on artificial potential fields drives successfully the centroid to the desired position while avoiding collisions with the workspace. Additionally, the formation orientation is aligned with the linear velocity of its centroid. The robots are also equipped with a distributed controller to avoid collisions with each other. Finally, simulation results validate the efficiency of our method and illustrate the ability of the algorithm to appropriately adapt the formation in situations of narrow path crossing.
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