Multi-robot collaboration and coordination in a high-risk transportation scenario

This paper discusses a decentralized multi-robot coordination strategy which aims to control and guide a team of robotic agents safely through a hostile area. The ”hostility” of the environment is due to the presence of enemy forces, seeking to intercept the robotic team. In order to avoid detection and ensure global team safety, the robotic agents must carefully plan their trajectory towards a list of goal locations, while holding a defensive formation.