COORDINATION BETWEEN AUTONOMOUS ROBOTS

In a multirobot system, each robot can choose between two basic behavi ors: obstacle avoidance and conflict resolution behaviors. A local sup ervisor (LS) is used to switch between the two behaviors. Coordination between robots is necessary to avoid collision: each robot communicat es to the nearest robot one angular datum used fbr concerted trajector y modification. In our implementation, the parameters for the LS and t he conflict resolution algorithm are encoded into an integer string an d a micro-GA (mu GA) is used for optimization. (C) 1997 Elsevier Scien ce Inc.