Cooperative controls for car-like robot coordination

In this paper we consider the problem of coordination of large number of robots subject to low information constraint. We solve the problem of safe-minimum time control for robots, that are car-like modeled and have different goal configurations, by designing two different controls: the safe and the time-optimal ones, and by tuning them suitably. We can see the tuning as a cooperation among the two controls. Simulation results show that the use of cooperative controls efficiently solves the problem of robot coordination when the information available by one of each other is reduced to the knowledge of their position when the distance among them is smaller than a relatively small bound.