Collaborator: A Nonholonomic Multiagent Team for Tasks in a Dynamic Environment

<table>(a) <svg height="10.6875" id="M143" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 19.5 10.6875" width="19.5" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,10.6875)">
<g transform="translate(72,-63.45)">
<text transform="matrix(1,0,0,-1,-71.95,63.5)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑅</tspan>
<tspan style="font-size: 12.50px; " x="9.2522202" y="0">1</tspan>
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</g>
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</svg> spots a moving obstacle in the way. and start moving obstacle avoidance algorithm for their navigation. (b)–(e) shows for each step, the robot is moving away from the current position the obstacle therefore avoiding collision. Meanwhile the total effects of attractive “force” from the unsearched cells and the objects attract the robot towards to the goal.</table>

Journal of Robotics

fig11

Figure 11

Figure 11: Collaborator: A Nonholonomic Multiagent Team for Tasks in a Dynamic Environment 