Using hybrid vector-harmonic potential fields for multi-robot, multi-target navigation in a stationary environment

In this work, hybrid vector-harmonic potential fields are suggested for building a path planner for multirobot, multitarget navigation in a stationary environment. The suggested method is complete provided that the workspace satisfies a lenient geometrical condition. The operation of the planner is based on the bottom-up approach to behavior synthesis (instead of the common top-down approach). Such an approach proves effective in limiting the complexity of planning. The approach also enjoys significant flexibility, enabling the addition or removal of any number of robots from the workspace without having to adjust the manner in which the rest of the robots behave. Theoretical development, proofs, as well as simulation results are provided for a number of different robot workspace configurations