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... treat obstacle avoidance in complex environments in a satisfying way. Obstacle avoidance is fundamental for any practical mobile system and has been extensively studied for single-robot systems [1], =-=[2]-=-. In general, it is nontrivial to extend or combine existing methods for obstacle avoidance and formation control in a systematic way. This paper proposes a solution to this problem. Recent contributi...

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...n optimization process that favours progress, security and convergence towards the target. The elegance and simplicity of these methods have lead to extensions and applications in different contexts (=-=Ogren and Leonard, 2002-=-; Brock and Khatib, 1999; Arras et al., 2002; Ko and Simmons, 1998). In addition, some techniques pre-compute a set of arcs of circle (elementary paths), and choose one based on obstacle avoidance and...

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...low an obstacle to move away from its motion path or bypass the obstacle by increasing its speed. Obstacle avoidance in the proposed framework offers great advantages over standard methods present in =-=[2, 3, 10, 13, 18, 21, 23]-=-. The main disadvantage of all these methods is that they treat the problem locally. The local treatment of the problem directs the robot into executing globally suboptimal paths to its destination po...

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...ies on the roadmaps. For vehicle navigation, Fraichard et al. proposed a reactive navigation method for car-like vehicles [10] and navigation with guaranteed convergence in dynamic environments [11], =-=[12]-=- have also been reported. The “elastic band” [13], [14] is also categorized in this type that allows the planned path to be adapted to moving obstacles through energy minimization. We have also introd...

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...ormance [16], while the work of Butler and Rus was motivated by event monitoring using constrained resources [6]. Also worth noting is work in the areas of formation control [21], conflict resolution =-=[17]-=-, and cooperative control [3]. A recent survey/tutorial outlining additional relevant work within each of these areas can be found in [11]. In contrast to these efforts, the focus of our work is effic...

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...n take a single step along that trajectory. This idea has proven highly useful in a number of different control applications (e.g. [5] and [6]). In robotics, this view is represented, for example, in =-=[7]-=- and [8]. While receding horizon methods are able to capture the desirable benefits of optimal solutions, there is an inherent tradeoff between using a large horizon to capture the optimal solution an...

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...h less probability of containing these features are searched later. The contribution of this paper is a decentralized coordination algorithm for a team of sensor-enabled robots (reconfigurable sensor network) that allows a team to navigate from an initial configuration within a region containing general shaped obstacles, to areas within the region with the highest probability of containing “good” information first, while less probable areas are searched later. Our solution to this problem is based upon Voronoi partitions, a global optimization technique [6], and a modified navigation function [7]. Voronoi partitioning allocates different regions within the area of interest among the robots. These partitions utilize robots to search different areas in parallel, which speeds up the detection process. The global optimization algorithm then computes goal points within the Voronoi partitions and The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems October 11-15, 2009 St. Louis, USA 978-1-4244-3804-4/09/$25.00 ©2009 IEEE 5815 the modified navigation function guarantees collision free motion to the desired goal points. II. PROBLEM FORMULATION Consider a team of n kine...