A time expanded network based algorithm for safe and efficient distributed multi-agent coordination

In this paper we propose a novel approach for distributed traffic management of a group of mobile collaborative vehicles, moving within a shared environment. Our algorithm is based on a modified graph representation of the space-time where the robotic vehicles operate. The proposed graph representation augments standard path planning strategies by allowing multiple speeds. Robots can negotiate their route and set their speed to prevent and solve possible collisions while taking into account the energy consumption. Indeed, the algorithm will be formally proved to provide collision free paths.