Autonomous navigation of mobile robots is a well studied problem in robotics. However, the navigation task becomes challenging when multi-robot systems have to cooperatively navigate dynamic environments with deadlock-prone layouts. We present a Distributed Timed Elastic Band (DTEB) Planner that combines Prioritized Planning with the online TEB trajectory Planner, in order to extend the capabilities of the latter to multi-robot systems. The proposed planner is able to reactively avoid imminent collisions as well as predictively resolve potential deadlocks among a team of robots, while navigating in a complex environment. The results of our simulation demonstrate the reliable performance and the versatility of the planner in different environment settings. The code and tests for our approach are available online.

翻译：移动机器人的自主导航是机器人学中一个已被充分研究的问题。然而，当多机器人系统需要在具有死锁倾向的布局中协同导航动态环境时，导航任务变得具有挑战性。我们提出了一种分布式定时弹性带（DTEB）规划器，它将优先级规划与在线TEB轨迹规划器相结合，以扩展后者的能力至多机器人系统。所提出的规划器能够反应性地避免即将发生的碰撞，并预测性地解决一组机器人在复杂环境中导航时的潜在死锁问题。仿真结果展示了该规划器在不同环境设置下的可靠性能和多功能性。我们方法的代码和测试可在线获取。