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Decentralized multi-robot systems typically perform coordinated motion planning by constantly broadcasting their intentions as a means to cope with the lack of a central system coordinating the efforts of all robots.
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C. E. Luis, M. Vukosavljev, and A. P. Schoellig, “Online trajectory generation with distributed model predictive control for multi-robot motion planning,” IEEE Robotics and Automation Letters , vol. 5, no. 2, pp. 604–611, 2020
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