Physical Sciences and Mathematics Commons^™

On The Coordinated Navigation Of Multiple Independent Disk-Shaped Robots, Cem Serkan Karagöz, H. Isil Bozma, Daniel Koditschek

Daniel E Koditschek

This paper addresses the coordinated navigation of multiple independently actuated disk-shaped robots - all placed within the same disk-shaped workspace. Assuming perfect sensing, shared centralized communications and computation, as well as perfect actuation, we encode complete information about the goal, obstacles and workspace boundary using an artificial potential function over the cross product space of the robots’ simultaneous configurations. The closed-loop dynamics governing the motion of each robot take the form of the appropriate projection of the gradient of this function. We show, with some reasonable restrictions on the allowable goal positions, that this function is an essential navigation function …