A distributed approach for safe kinodynamic motion planning in multi-robot systems, based on a Social Force Model

This work deals with the design of a real-time system able to solve the problem of planning collision-free motions for multiple robot vehicles that operate in the same, partially-observable environment. In robotics this problem has a wide literature and a lot of solutions were found. One of these systems uses the coordination of robots in a distributed manner even considering the kinodynamic time constraints. The system proposed in this work uses an hybrid architecture using the Social Force Model for dealing with human presence. We used a general purpose robotic operating system developed by Willow Garage, called ROS