{"type":"ScholarlyArticle","title":"Multiple Path Coordination for Mobile Robots: A Geometric Algorithm","authors":[{"name":"Stéphane Leroy","slug":"stephane-leroy","given":"Stéphane","family":"Leroy","affiliation":"LAAS-CNRS 7, avenue du Colonel Roche 31077 Toulouse Cedex 4- France"},{"name":"Jean-Paul Laumond","slug":"jean-paul-laumond","given":"Jean-Paul","family":"Laumond","affiliation":"LAAS-CNRS 7, avenue du Colonel Roche 31077 Toulouse Cedex 4- France"},{"name":"Thierry Siméon","slug":"thierry-simeon","given":"Thierry","family":"Siméon","affiliation":"LAAS-CNRS 7, avenue du Colonel Roche 31077 Toulouse Cedex 4- France"}],"abstract":"This paper presents a geometric based approa ch for multiple mobile robot motion coordination. All the robot paths being computed independently, we address the problem of coordinating the motion of the robots along their own path in such a way they do not collide each other. The proposed algorithm is based on a bounding box representation of the obstacles in the so-called coordination diagram. The algorithm is resolution-complete. Its efficiency is illustrated by examples involving more than 100 robots.","doi":null,"url":"https://ijcai.org/proceedings/1999/159","pdf":"https://ijcai.org/proceedings/1999/0159.pdf","markdown":"https://ijcai.org/proceedings/1999/159.md","bibtex":"https://ijcai.org/proceedings/1999/bibtex/159","volume":{"slug":"1999","title":"Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1999","url":"https://ijcai.org/proceedings/1999/","year":1999,"location":"Stockholm, Sweden","dates":"","editors":"Thomas Dean","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Robotics and Perception","track":"Robotics and Perception","number":159,"pages":{"first":1118,"last":1122},"keywords":[],"videos":[],"references":[{"position":1,"raw":"[Alami et al., 1995] R. Alami, F. Robert, F. F. Ingrand, and S. Suzuki. Multi-robot cooperation through in- cremental plan-merging. 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