7.2 Multiple Robots

Suppose that multiple robots share the same world, $ {\cal W}$. A path must be computed for each robot that avoids collisions with obstacles and with other robots. In Chapter 4, each robot could be a rigid body, $ {\cal A}$, or it could be made of $ k$ attached bodies, $ {\cal A}_1$, $ \ldots $, $ {\cal A}_k$. To avoid confusion, superscripts will be used in this section to denote different robots. The $ i$th robot will be denoted by $ {\cal A}^i$. Suppose there are $ m$ robots, $ {\cal A}^1$, $ {\cal A}^2$, $ \ldots $, $ {\cal A}^m$. Each robot, $ {\cal A}^i$, has its associated C-space, $ {\cal C}^i$, and its initial and goal configurations, $ q^i_{init}$ and $ q^i_{goal}$, respectively.


Steven M LaValle 2012-04-20