Representation of interactions between mobile robots for trajectory planning

This paper presents a representation of the kinetic capabilities of a mobil e robot, called the Dynamic Map. This representation is used to analyze int eractions between robots and to plan trajectories according to a given task . The representation is also used to plan the trajectory of a mobile robot that must escape from several adversaries, as well as the collaborative int erception of a robot by multiple opponents using the Dynamic Map concept. F inally, the vision-based learning of a Dynamic Map is described. (C) 1999 E lsevier Science Ltd. All rights reserved.