Abstract
This paper investigates multiple mobile robots coordinating with each other under a potential collision situation. The system considered consists of three wheeled mobile robots in which one of them serves as a leader agent and the rest follower agents. These robots are to collaboratively transport a large object. Uniqueness of our approach is mainly seen in the follower agents. Unlike conventional approaches, the followers in our method do not need to know the intention of the leader, e.g., where to go, in an explicit manner. Instead, the followers will assist the leader to accomplish the task as its own local task optimization. The efficacy of the proposed method is verified through simulation and experiments.
