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About this paper
Matteo Frascarelli, Lucia Pallottino, Alberto Landi
The authors present a generalized root-locus planner that constructs coordinated routes for robots in workspaces. It maps the workspace to a circular domain and uses a potential field whose branches assign starts to distinct goals; a shared gain synchronizes progress. For admissible phases passing an obstacle certificate, paths remain disjoint and avoid boundaries. In sampled tests, success was 100%.
Summary by alphaXiv.
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