{'fraction_non_alphanumeric': 0.020168067226890758, 'fraction_numerical': 0.0025210084033613447, 'mean_word_length': 4.565420560747664, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
A reactive planner for multiple robots involved in competitive tasks

In this article, we propose the concept of dynamic map (DM), which allows to represent the intrinsic kinetic capabilities of a vehicle, and therefore to control its displacements once the geometry of this map is known. This concept is based upon the theory of reachable regions for a dynamic system. The work presented in this paper concerns the aspects of: (1) the construction and representation of the map, (2) the learning by a robot of its own map, and (3) the description of the sensori-motor relation between the visual information received by the robot and its displacement using the DM. The second part of the paper concerns the exploitation by a robot of the information contained in its own DM and that of other robots. The maps are combined in order to define a new distribution of the robot's reachable space, in the context of the task at hand. An optimization algorithm can then be used to find a path that takes into account all robots capabilities. This planning scheme is applied to the case of a single robot that is pursued by one or several other robots and therefore must plan an escape trajectory.