Multirobot Planning
The following video shows autonomous navigation and multi-robot planning. Waypoints are selected using a graphical user interface that allowed users to apply a mouse-click to a desired location on the map. Upon selection, robots patrolling the environment automatically communicate among themselves to determine the robot (or robots) that are best suited for the task (based on robot-type and proximity). Those robots then autonomously converge on the destination:
Multi-Robot Planning: Video of robots autonomously seeking a total of 11 issued waypoints. Waypoints are shown as white plus-signs inside red, green, or red and green colored circles. Red waypoints must be visited by a red robot, green waypoints must be visited by a green robot, and red-green waypoints must be visited by a red robot and a green robot. Red and green lines are used to show that robots are currently seeking the selected waypoint. The pictures scattered around the image are videos taken from different parts of the hallway. Colored cylinders visible in the images correspond to similarly colored waypoints on the map.