Cooperative 2D Reconfiguration using Spatio-Temporal Planning and Load Transferring

These robots are subjected to the constraints of avoiding obstacles and maintaining connectivity of the structure. We develop two reconfiguration methods, one based on spatio-temporal planning, and one based on target swapping. Both methods achieve coordinated motion of robots by avoiding deadlocks and maintaining all constraints. Both methods also increase efficiency by reducing the amount of waiting times and lowering combined travel costs. The resulting progress is validated by simulations that also scale the number of robots.