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Journal of the Brazilian Computer Society

, Volume 18, Issue 4, pp 363–373

A path-planning algorithm for multiple robots in unknown environmentsFirst Online: 06 April 2012Received: 10 October 2011Accepted: 16 March 2012


This paper describes a new method of path-planning for multiple robots in unknown environments. The method, called Space D*, is based on two algorithms: the D*, which is an incremental graph search algorithm, and the Space Colonization algorithm, previously used to simulate crowd behaviors. The path-planning is achieved through the exchange of information between the robots. So decentralized, each robot performs its path-planning, which provides an obstacle-free path with the least number of robots around. The major contribution of the proposed method is that it generates paths in spacious environments facilitating the control of robots and thus presenting itself in a viable way for using in areas populated with multiple robots. The results obtained validate the approach and show the advantages in comparison with using only the D* method.

KeywordsPath-planning Multi-robot systems Collision avoidance Space Colonization algorithm D* Lite algorithm This is a revised and extended version of a paper that appeared at ENIA 2011 VIII Encontro Nacional de Inteligência Artificial and has been recommended to JBCS.

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Author: Luan Silveira - Renan Q. Maffei - Silvia S. C. Botelho - Paulo L. DrewsJr. - Alessandro de L. Bicho - Nelson L. Duart


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