A comparison of different approaches based on force fields for coordination among multiple mobiles

This paper addresses the issue of real-time coordination among multiple mobiles, using the force fields approach. Firstly, a brief overview of different formulations of force fields is presented along with two techniques for handling multiple mobiles. Secondly, a new straight forward formulation of force fields is proposed based on the concept of closest point of approach, and following the principle of increasing the minimum distance. Finally, some comparative results along with typical simulations are presented.