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Coordinated navigation for multi-robot systems with additional constraints

In this paper we present a method for navigating a multirobot system through an environment while additionally maintaining a set of constraints. Our approach is based on graph structures that model movements and constraints separately, in order to cover different robots and a large class of possible constraints. Additionally, the partition of movement and constraint graph allows us to use known graph algorithms like Steiner trees to solve the problem of finding a target configuration for the robots. We construct so called separated distance graphs from the Steiner tree and the underlying roadmap graph, which allow to assemble valid navigation plans fast.