Abstract
We present a novel approach to compute collision-free paths for multiple robots subject to local coordination
constraints. More specically, given a set of robots, their initial and final configurations, and possibly some additional
coordination constraints, our goal is to compute a collision-free path between the initial and final configuration that maintains
the constraints. To solve this problem, our approach generalizes
the social potential field method to be applicable to both
convex and nonconvex polyhedra. Social potential fields are then
integrated into a “physics-based motion planning” framework
which uses constrained dynamics to solve the motion planning
problem. Our approach is able to plan for over 200 robots while
averaging about 110 ms per step in a variety of environments.
