Lazy auctions for multi-robot collision avoidance and motion control under uncertainty

We present an auction-flavored multi-robot planning mechanism where coordination is to be achieved on the occupation of atomic resources modeled as binary inter-robot constraints. Introducing virtual obstacles, we show how this approach can be combined with particlebased obstacle avoidance methods, offering a decentralized, auction-based alternative to previously established centralized approaches for multirobot open-loop control. We illustrate the effectiveness of our new approach by presenting simulations of typical spatially-continuous multirobot path-planning problems and derive bounds on the collision probability in the presence of uncertainty.