Abstract
We present a novel algorithm for motion
planning of multiple robots amongst dynamic obstacles. Our approach is
based on a new roadmap representation that uses deformable links and
dynamically retracts to capture the connectivity of the free space. We
use Newtonian Physics and Hooke's Law to update the position of the
milestones and deform the links in response to the motion of other
robots and the obstacles. Based on this roadmap representation, we
describe our planning algorithms that can compute collision-free paths
for tens of robots in dynamic environments.
