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A comprehensive review of the latest path planning developments for multi-robot formation systems

Published online by Cambridge University Press:  31 March 2023

Nour Abujabal ,
Raouf Fareh ,
Saif Sinan Open the ORCID record for Saif Sinan [Opens in a new window] ,
Mohammed Baziyad Open the ORCID record for Mohammed Baziyad [Opens in a new window]  and
Maamar Bettayeb
Nour Abujabal
Affiliation:
Research Institute of Sciences & Engineering (RISE), University of Sharjah, Sharjah, UAE
Raouf Fareh*
Affiliation:
Electrical Engineering Department, University of Sharjah, Sharjah, UAE
Saif Sinan
Affiliation:
Electrical Engineering Department, École de technologie supérieure (ETS), Montreal, QC, Canada
Mohammed Baziyad
Affiliation:
Research Institute of Sciences & Engineering (RISE), University of Sharjah, Sharjah, UAE
Maamar Bettayeb
Affiliation:
Electrical Engineering Department, University of Sharjah, Sharjah, UAE CEIES, King Abdulaziz University, Jeddah, KSA
*
*Corresponding author. E-mail: rfareh@sharjah.ac.ae
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Abstract

There has been a continuous interest in multi-robot formation systems in the last few years due to several significant advantages such as robustness, scalability, and efficiency. However, multi-robot formation systems suffer from well-known problems such as energy consumption, processing speed, and security. Therefore, developers are continuously researching for optimal solutions that can gather the benefits of multi-robot formation systems while overcoming the possible challenges. A backbone process required by any multi-robot system is path planning. Thus, path planning for multi-robot systems is a recent top research topic. However, the literature lacks a recent comprehensive review of path planning works designed for multi-robot systems. The aim of this review paper is to provide a comprehensive assessment and an insightful look into various path planning techniques developed in multi-robot formation systems, in addition to highlighting the basic problems involved in this field. This will allow the reader to discover the research gaps that must be solved for a better path planning experience for multi-robot formation systems. Finally, an illustrative comparative example is presented at the end of the paper to show the advantages and disadvantages of some popular path planning techniques.

Keywords

path planningmulti-robotformation controlleader–followervirtual formationbehavior-based formationdynamic formationentralized decisiondecentralized decisiondistributed decisionhybrid decision
Type
Research Article
Information
Robotica , Volume 41 , Issue 7 , July 2023 , pp. 2079 - 2104
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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