Case 1: Multiple robot coordination.

   In this case, only the final locations of the robots are concerned.
Fig. 1. shows the trees developed by RRT to search for path solutions for the car -like robots to rearch their final locations. The two robots are in their goals.
From Fig.1.1., we can obviously see that the coordination between these two robots are not optimal.
The sharezone tolerance distance is 4*( half length of the car-like robots).
Fig.1. Case 1 path planning  Fig. 1.1. Case 1 animation

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