High level path coordination for multiple vehicles and reciprocal root locus

This paper presents a method based on the reciprocal root locus (RRL) approach for solving the multiple vehicle path coordination problem. A high level planning assigns the tasks to each vehicle, specifying each mission, inside a structured workspace with known obstacles. The problem is solved in two steps: first the given workspace is mapped onto a semicircle, using the theory of conformal mappings, then the RRL method is applied. Examples involving multiple vehicles illustrate the proposed technique and its effectiveness