A multirobot system multithreaded architecture for motion coordination

In this paper we present a layered architecture for multirobot motion coordination. The purpose is to control and coordinate autonomous mobile robot with generic shapes and kinematics in a priori known environment. It is a centralized framework, where a leader robot (or a supervisor) plans the motion of all the robots and makes them moving synchronously. The architecture is layered and modularized, where each module is realized with concurrent threads. The underlying motion planner is based on an Artificial Potential Fields method applied on a discretized C-Space-Time.