This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find feasible formation parameters that guarantees formation constraints for rigid formations. The method proves to be computationally efficient, making it relevant for reactive planning and control of multi-robot systems formation. The method has been tested in a simulation environment to prove feasibility and run-time efficiency.

翻译：本文提出了一种新颖的规划方法，可在杂乱环境中实现多机器人编队的导航，并在机器人运动过程中保持编队形态。该方法采用去中心化方式寻找可行的编队参数，从而保证刚体编队的约束条件。该方法被证明具有计算高效性，适用于多机器人系统编队的反应式规划与控制。通过仿真环境测试，验证了该方法的可行性与运行时效率。