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Considering a set of holonomic robots, a decentralized algorithm is proposed to guide the robots to achieve a predefined formation while avoiding collisions with non-convex obstacles, dynamic obstacles, and other robots. Local collision avoidance is achieved using a variant of the well-known ORCA (optical reciprocal collision avoidance) algorithm. We modify this algorithm to ensure the continuity of the robots\u2019 controls (velocities). The implementation of an online replanning algorithm, <jats:italic>RRT<\/jats:italic>, is essential to guide the robots and prevent them from getting stuck in minima. The resulting method guarantees formation convergence, and several simulations are presented to illustrate its effectiveness.<\/jats:p>","DOI":"10.1007\/s11370-024-00582-x","type":"journal-article","created":{"date-parts":[[2025,1,9]],"date-time":"2025-01-09T07:19:15Z","timestamp":1736407155000},"page":"215-232","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Decentralized multi-robot formation control in environments with non-convex and dynamic obstacles based on path planning algorithms"],"prefix":"10.1007","volume":"18","author":[{"given":"Luis E.","family":"Ruiz-Fernandez","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8076-4008","authenticated-orcid":false,"given":"Javier","family":"Ruiz-Leon","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"David","family":"Gomez-Gutierrez","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Rafael","family":"Murrieta-Cid","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2025,1,9]]},"reference":[{"key":"582_CR1","doi-asserted-by":"publisher","DOI":"10.3390\/biomimetics8050420","author":"A Abbasimoshaei","year":"2023","unstructured":"Abbasimoshaei A, Chinnakkonda Ravi AK, Kern TA (2023) Development of a new control system for a rehabilitation robot using electrical impedance tomography and artificial intelligence. 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