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A Decentralized Collision Avoidance Algorithm for Multi-robots Navigation

This paper presents a distributed strategy for the navigation of multiple autonomous robots. The proposed planning scheme combines a decentralized receding horizon motion planner, in which each robot computes its own planned trajectory locally, with a fast navigation controller based on artificial potential fields and sliding mode control technique. This algorithm solves the collision avoidance problem. It explicitly accounts for computation time and is decentralized, making it suited for real time applications. Simulation studies are provided in order to show the effectiveness of the proposed approach.