We present a method for deadlock-free and collision-free navigation in a multi-robot system with nonholonomic robots. The problem is solved by quadratic programming and is applicable to most wheeled mobile robots with linear kinematic constraints. We introduce masked velocity and Masked Cooperative Collision Avoidance (MCCA) algorithm to encourage a fully decentralized deadlock avoidance behavior. To verify the method, we provide a detailed implementation and introduce heading oscillation avoidance for differential-drive robots. To the best of our knowledge, it is the first method to give very promising and stable results for deadlock avoidance even in situations with a large number of robots and narrow passages.

翻译：我们提出了一种适用于非完整机器人多机器人系统的无死锁、无碰撞导航方法。该方法通过二次规划求解，可应用于大多数具有线性运动学约束的轮式移动机器人。我们引入了掩码速度和掩码协作碰撞避免算法，以促进完全分布式的死锁避免行为。为验证该方法，我们提供了详细的实现方案，并针对差速驱动机器人引入了航向振荡避免机制。据我们所知，这是首个即使在大量机器人和狭窄通道场景下也能给出极具前景且稳定死锁避免结果的方法。