{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,28]],"date-time":"2026-04-28T11:24:03Z","timestamp":1777375443397,"version":"3.51.4"},"reference-count":112,"publisher":"Cambridge University Press (CUP)","issue":"12","license":[{"start":{"date-parts":[[2022,6,24]],"date-time":"2022-06-24T00:00:00Z","timestamp":1656028800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2022,12]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Mobile robots and multimobile robotic system usage for task achievement have been an emerging research area since the last decades. This article presents a review about mobile robot navigation problem and multimobile robotic systems control. The main focus is made on path planning strategies and algorithms in static and dynamic environments. A classification on mobile robots path planning has been defined in the literature and divided to classical and heuristic approaches. Each of them has its own advantages and drawbacks. On the other hand, the control of multimobile robots is presented and the control approaches for a fleet of robots are presented. Scientists found that using more than one robot as opposed to a single one presents many advantages when considering redundant task, dangerous tasks, or a task that scales up or down in time or that requires flexibility. They have defined three main approaches of multiple robots control: behavior-based approach, leader\u2013follower approach, and virtual structure approach. This article addresses these approaches and provides examples from the literature.<\/jats:p>","DOI":"10.1017\/s0263574722000893","type":"journal-article","created":{"date-parts":[[2022,6,24]],"date-time":"2022-06-24T04:48:47Z","timestamp":1656046127000},"page":"4257-4270","source":"Crossref","is-referenced-by-count":44,"title":["Mobile robots path planning and mobile multirobots control: A review"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0931-7341","authenticated-orcid":false,"given":"Bassem","family":"Hichri","sequence":"first","affiliation":[]},{"given":"Abir","family":"Gallala","sequence":"additional","affiliation":[]},{"given":"Francesco","family":"Giovannini","sequence":"additional","affiliation":[]},{"given":"Slawomir","family":"Kedziora","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2022,6,24]]},"reference":[{"key":"S0263574722000893_ref57","doi-asserted-by":"crossref","first-page":"177","DOI":"10.1504\/IJCAT.2011.042693","article-title":"Genetic algorithm based solution to dead-end problems in robot navigation","volume":"41","author":"Kang","year":"2011","journal-title":"Int. J. Comput. Appl. Technol."},{"key":"S0263574722000893_ref2","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1155\/2018\/5278565","article-title":"Leader-follower based locally rigid formation control","volume":"2018","author":"Raghuwaiya","year":"2018","journal-title":"J. Adv. Transport."},{"key":"S0263574722000893_ref66","doi-asserted-by":"crossref","first-page":"53","DOI":"10.1109\/4235.585892","article-title":"Ant colony system: a cooperative learning approach to the traveling salesman problem","volume":"1","author":"Dorigo","year":"1997","journal-title":"IEEE Trans. Evol. Comput"},{"key":"S0263574722000893_ref90","doi-asserted-by":"crossref","first-page":"817","DOI":"10.1049\/iet-smt.2016.0273","article-title":"Analysis of FPA and BA meta-heuristic controllers for optimal path planning of mobile robot in cluttered environment","volume":"11","author":"Ghosh","year":"2017","journal-title":"IET Sci. Meas. Technol"},{"key":"S0263574722000893_ref43","volume-title":"Robot Lab: Robot Path Planning.","author":"Regli"},{"key":"S0263574722000893_ref73","doi-asserted-by":"crossref","first-page":"2624","DOI":"10.1016\/j.eswa.2014.10.053","article-title":"Bio-inspired approach to learning robot motion trajectories and visual control commands","volume":"42","author":"Miti\u0107","year":"2015","journal-title":"Exp. Syst. Appl."},{"key":"S0263574722000893_ref12","doi-asserted-by":"crossref","first-page":"2","DOI":"10.5772\/5615","article-title":"Neural networks in mobile robot motion","volume":"1","author":"Janglov\u00e1","year":"2004","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"S0263574722000893_ref54","doi-asserted-by":"crossref","unstructured":"[54] Shibata, T. and Fukuda, T. , \u201cIntelligent Motion PLanning By Genetic Algorithm with Fuzzy Critic,\u201d In: Proceedings of 8th IEEE International Symposium on Intelligent Control (IEEE, 1993) pp. 565\u2013570.","DOI":"10.1109\/ISIC.1993.397635"},{"key":"S0263574722000893_ref99","doi-asserted-by":"crossref","first-page":"1343","DOI":"10.1016\/j.automatica.2007.09.019","article-title":"Leader\u2013follower formation control of nonholonomic mobile robots with input constraints","volume":"44","author":"Consolini","year":"2008","journal-title":"Automatica"},{"key":"S0263574722000893_ref89","doi-asserted-by":"crossref","first-page":"50","DOI":"10.1504\/IJAAC.2015.068041","article-title":"The path planning for mobile robot based on bat algorithm","volume":"9","author":"Guo","year":"2015","journal-title":"Int. J. Automat. Cont"},{"key":"S0263574722000893_ref28","volume-title":"Int. J. Mech. Mechatron. Eng.","volume":"5","author":"Raghuwaiya"},{"key":"S0263574722000893_ref65","doi-asserted-by":"crossref","first-page":"78","DOI":"10.1016\/S1005-8885(14)60348-4","article-title":"Mobile robot slam method based on multi-agent particle swarm optimized particle filter","volume":"21","author":"Tang","year":"2014","journal-title":"J. China Univ. Posts Telecommun"},{"key":"S0263574722000893_ref11","unstructured":"[11] Chen, P. , Hwang, Y. and Sandros, A. , \u201cMotion Planner with Performance Proportional to Task Difficulty,\u201d In: IEEE International Conference on Robotics and Automation , France (1992)."},{"key":"S0263574722000893_ref48","doi-asserted-by":"crossref","unstructured":"[48] Kim, J.-O. and Khosla, P. , Real-Time Obstacle Avoidance Using Harmonic Potential Functions (1992).","DOI":"10.1109\/70.143352"},{"key":"S0263574722000893_ref64","doi-asserted-by":"crossref","first-page":"949","DOI":"10.1007\/s00500-015-1825-z","article-title":"Solving the multi-objective path planning problem in mobile robotics with a firefly-based approach","volume":"21","author":"Hidalgo-Paniagua","year":"2017","journal-title":"Soft Comput."},{"key":"S0263574722000893_ref27","first-page":"50","volume-title":"Eng. Ubu. Ac. Th.","author":"Kanjanawanishkul","year":"2005"},{"key":"S0263574722000893_ref88","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1007\/978-3-642-04317-8_3","volume-title":"Recent Advances in Harmony Search Algorithm","author":"Tangpattanakul","year":"2010"},{"key":"S0263574722000893_ref101","doi-asserted-by":"crossref","unstructured":"[101] Vilca, J. , Adouane, L. , Mezouar, Y. and Lebraly, P. , \u201cAn Overall Control Strategy Based on Target Reaching for the Navigation of an Urban Electric Vehicle,\u201d In: 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE, 2013) pp. 728\u2013734.","DOI":"10.1109\/IROS.2013.6696432"},{"key":"S0263574722000893_ref13","volume-title":"The Evolution of Intelligence: The Nervous System as A Model of Its Environment","author":"Bremermann","year":"1958"},{"key":"S0263574722000893_ref61","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1155\/2016\/9548482","article-title":"Fuzzy logic based control for autonomous mobile robot navigation","volume":"2016","author":"Omrane","year":"2016","journal-title":"Comput. Intel. Neurosci."},{"key":"S0263574722000893_ref110","doi-asserted-by":"crossref","first-page":"268","DOI":"10.1016\/j.rcim.2009.11.005","article-title":"Two-wheeled mobile robot motion control in dynamic environments","volume":"26","author":"Deng","year":"2010","journal-title":"Robot Comput.-Intgr. Manuf."},{"key":"S0263574722000893_ref79","doi-asserted-by":"crossref","first-page":"255","DOI":"10.1007\/s12293-015-0160-3","article-title":"A new hybrid optimization algorithm for multiple mobile robots navigation based on the CS-ANFIS approach","volume":"7","author":"Mohanty","year":"2015","journal-title":"Memet. Comput."},{"key":"S0263574722000893_ref16","doi-asserted-by":"crossref","first-page":"412","DOI":"10.1016\/j.rcim.2019.01.002","article-title":"Design of cooperative mobile robots for co-manipulation and transportation tasks","volume":"57","author":"Hichri","year":"2019","journal-title":"Robot. Comput.-Intgr. Manuf."},{"key":"S0263574722000893_ref17","doi-asserted-by":"crossref","first-page":"422","DOI":"10.1108\/AA-12-2017-190","article-title":"Flexible co-manipulation and transportation with mobile multi-robot system","volume":"39","author":"Hichri","year":"2019","journal-title":"Assembly Autom."},{"key":"S0263574722000893_ref35","doi-asserted-by":"crossref","DOI":"10.3390\/electronics9122023","article-title":"A cloudware architecture for collaboration of multiple agvs in indoor logistics: Case study in fabric manufacturing enterprises","volume":"9","author":"Okumu\u015f","year":"2020","journal-title":"Electronics"},{"key":"S0263574722000893_ref9","doi-asserted-by":"crossref","first-page":"96","DOI":"10.1177\/02783640022066770","article-title":"Sensor-based exploration: The hierarchical generalized voronoi graph","volume":"19","author":"Choset","year":"2000","journal-title":"Int. J. Robot. Res"},{"key":"S0263574722000893_ref34","unstructured":"[34] Peng, Z. , Formation Control of Multiple Nonholonomic Wheeled Mobile Robots. PhD thesis, Ecole Centrale de Lille, (2013)."},{"key":"S0263574722000893_ref6","doi-asserted-by":"crossref","first-page":"582","DOI":"10.1016\/j.dt.2019.04.011","article-title":"A review: On path planning strategies for navigation of mobile robot","volume":"15","author":"Patle","year":"2019","journal-title":"Defence Technol."},{"key":"S0263574722000893_ref21","doi-asserted-by":"crossref","first-page":"655","DOI":"10.1109\/TRA.2002.806024","article-title":"Editorial: Advances in multi-robot systems","volume":"18","author":"Arai","year":"2002","journal-title":"IEEE Trans. Robotic. Autom."},{"key":"S0263574722000893_ref39","doi-asserted-by":"crossref","first-page":"143","DOI":"10.1109\/70.88035","article-title":"Motion planning in a plane using generalized voronoi diagrams","volume":"5","author":"Takahashi","year":"1989","journal-title":"IEEE Trans. Robot. Autom."},{"key":"S0263574722000893_ref91","doi-asserted-by":"crossref","first-page":"231","DOI":"10.1016\/j.ast.2015.11.040","article-title":"Three-dimensional path planning for UCAV using an improved bat algorithm","volume":"49","author":"Wang","year":"2016","journal-title":"Aerosp. Sci. Technol."},{"key":"S0263574722000893_ref51","doi-asserted-by":"crossref","first-page":"431","DOI":"10.1007\/s40998-019-00228-0","article-title":"Design of mobile robot control infrastructure based on decision trees and adaptive potential area methods","volume":"44","author":"D\u00f6nmez","year":"2020","journal-title":"Iran. J. Sci. Technol. Trans. Electric. Eng"},{"key":"S0263574722000893_ref94","first-page":"284","article-title":"Navigational control of underwater mobile robot using dynamic differential evolution approach","volume":"231","author":"Parhi","year":"2017","journal-title":"Proc. Inst. Mech. Eng. M: J. Eng. Marit. Environ"},{"key":"S0263574722000893_ref104","doi-asserted-by":"crossref","first-page":"324","DOI":"10.1016\/j.robot.2007.08.005","article-title":"Distributed coordination architecture for multi-robot formation control","volume":"56","author":"Ren","year":"2008","journal-title":"Robot. Auton. Syst."},{"key":"S0263574722000893_ref36","volume-title":"Introduction to Autonomous Mobile Robots","author":"Siegwart","year":"2011"},{"key":"S0263574722000893_ref78","doi-asserted-by":"crossref","first-page":"35","DOI":"10.1080\/0952813X.2014.971442","article-title":"Optimal path planning for a mobile robot using cuckoo search algorithm","volume":"28","author":"Mohanty","year":"2016","journal-title":"J. Exp. Theor. Artif. Intell."},{"key":"S0263574722000893_ref50","doi-asserted-by":"crossref","first-page":"207","DOI":"10.1023\/A:1020564024509","article-title":"Dynamic motion planning for mobile robots using potential field method","volume":"13","author":"Ge","year":"2002","journal-title":"Auton. Robot."},{"key":"S0263574722000893_ref41","doi-asserted-by":"crossref","first-page":"555","DOI":"10.1002\/rob.4620070404","article-title":"A quadtree-based path-planning algorithm for a mobile robot","volume":"7","author":"Noborio","year":"1990","journal-title":"J. Robot. Syst."},{"key":"S0263574722000893_ref111","doi-asserted-by":"crossref","first-page":"349","DOI":"10.1016\/S0045-7906(00)00054-9","article-title":"Exponential stabilization of nonholonomic mobile robots","volume":"28","author":"Pourboghrat","year":"2002","journal-title":"Comput. Electr. Eng."},{"key":"S0263574722000893_ref87","doi-asserted-by":"crossref","first-page":"125","DOI":"10.1007\/s12293-016-0179-0","article-title":"Navigation of underwater robot based on dynamically adaptive harmony search algorithm","volume":"8","author":"Kundu","year":"2016","journal-title":"Memet. Comput."},{"key":"S0263574722000893_ref52","doi-asserted-by":"crossref","first-page":"269","DOI":"10.1007\/BF01386390","article-title":"A note on two problems in connexion with graphs","volume":"1","author":"Dijkstra","year":"1959","journal-title":"Numer. Math."},{"key":"S0263574722000893_ref59","doi-asserted-by":"crossref","volume-title":"Fuzzy Sets, Fuzzy Logic, and Fuzzy Systems: Selected Papers","author":"Zadeh","DOI":"10.1142\/2895"},{"key":"S0263574722000893_ref108","doi-asserted-by":"crossref","first-page":"193","DOI":"10.1142\/S2196888819500131","article-title":"Formation control of swarm robots using mobile agents","volume":"6","author":"Kambayashi","year":"2019","journal-title":"Vietnam J. Comput. Sci"},{"key":"S0263574722000893_ref83","doi-asserted-by":"crossref","unstructured":"[83] Ma, Q. and Lei, X. , \u201cDynamic Path PLanning of Mobile Robots Based on ABC Algorithm,\u201d In: International conference on artificial intelligence and computational intelligence (Springer, 2010) pp. 267\u2013274.","DOI":"10.1007\/978-3-642-16527-6_34"},{"key":"S0263574722000893_ref102","first-page":"926","article-title":"Behavior-based formation control for multirobot teams","volume":"14","author":"Balch","year":"1998","journal-title":"IEEE Trans"},{"key":"S0263574722000893_ref86","doi-asserted-by":"crossref","unstructured":"[86] Ghalenoei, M. R. , Hajimirsadeghi, H. and Lucas, C. , \u201cDiscrete Invasive Weed Optimization Algorithm: Application to Cooperative Multiple Task Assignment of Uavs,\u201d In: Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference (IEEE, 2009) pp. 1665\u20131670.","DOI":"10.1109\/CDC.2009.5400938"},{"key":"S0263574722000893_ref3","doi-asserted-by":"crossref","first-page":"7127","DOI":"10.1007\/s13369-017-2917-0","article-title":"A vision-based real-time mobile robot controller design based on gaussian function for indoor environment","volume":"43","author":"D\u00f6nmez","year":"2018","journal-title":"Arab. J. Sci. Eng."},{"key":"S0263574722000893_ref19","doi-asserted-by":"crossref","unstructured":"[19] Abou-Samah, M. and Krovi, V. , \u201cOptimal Configuration Selection for A Cooperating System of Mobile Manipulators,\u201d In: ASME, 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (American Society of Mechanical Engineers, 2002) pp. 1299\u20131306.","DOI":"10.1115\/DETC2002\/MECH-34358"},{"key":"S0263574722000893_ref7","doi-asserted-by":"crossref","first-page":"141","DOI":"10.1016\/j.procs.2018.07.018","article-title":"Methodology for path planning and optimization of mobile robots: A review","volume":"133","author":"Zafar","year":"2018","journal-title":"Proc. Comput. Sci."},{"key":"S0263574722000893_ref18","doi-asserted-by":"crossref","unstructured":"[18] Adouane, L. and Fort-Piat, L. , \u201cHybrid Behavioral Control Architecture for the Cooperation of Minimalist Mobile Robots,\u201d In: 2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA\u201904 (IEEE, vol. 4, 2004) pp. 3735\u20133740.","DOI":"10.1109\/ROBOT.2004.1308846"},{"key":"S0263574722000893_ref49","doi-asserted-by":"crossref","first-page":"1179","DOI":"10.1109\/21.44033","article-title":"Real-time obstacle avoidance for fast mobile robots","volume":"19","author":"Borenstein","year":"1989","journal-title":"IEEE Trans. Syst. Man Cybern"},{"key":"S0263574722000893_ref25","unstructured":"[25] Guechi, E.-H. , Suivi de trajectoires d\u2019un robot mobile non holonome: approche par mod\u00e9le flou de Takagi-Sugeno et prise en compte des retards. PhD thesis, Universit\u00e9 de Valenciennes et du Hainaut-Cambresis (2010)."},{"key":"S0263574722000893_ref68","doi-asserted-by":"crossref","first-page":"674","DOI":"10.26599\/TST.2021.9010012","article-title":"Deep reinforcement learning based mobile robot navigation: A review","volume":"26","author":"Zhu","year":"2021","journal-title":"Tsinghua Sci. Technol."},{"key":"S0263574722000893_ref62","doi-asserted-by":"crossref","first-page":"63","DOI":"10.3389\/fnbot.2020.00063","article-title":"The path planning of mobile robot by neural networks and hierarchical reinforcement learning","volume":"14","author":"Jinglun","year":"2020","journal-title":"Front. Neurorobot."},{"key":"S0263574722000893_ref40","doi-asserted-by":"crossref","first-page":"104","DOI":"10.1016\/0196-6774(85)90021-5","article-title":"A \u201cretraction\u201d method for planning the motion of a disc","volume":"6","author":"\u00d3\u2019D\u00fanlaing","year":"1985","journal-title":"J. Algor."},{"key":"S0263574722000893_ref46","doi-asserted-by":"crossref","unstructured":"[46] Lingelbach, F. , \u201cPath PLanning Using Probabilistic Cell Decomposition,\u201d In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA\u201904 (IEEE, vol. 1, 2004) pp. 467\u2013472","DOI":"10.1109\/ROBOT.2004.1307193"},{"key":"S0263574722000893_ref37","doi-asserted-by":"crossref","unstructured":"[37] Lulu, L. and Elnagar, A. , \u201cA Comparative Study Between Visibility-Based Roadmap Path PLanning Algorithms,\u201d In: 2005 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IEEE, 2005) pp. 3263\u20133268.","DOI":"10.1109\/IROS.2005.1545545"},{"key":"S0263574722000893_ref92","doi-asserted-by":"crossref","first-page":"718","DOI":"10.1109\/CEC.2008.4630875","volume-title":"2008 IEEE Congress on Evolutionary Computation (IEEE World Congress on Computational Intelligence)","author":"Chakraborty","year":"2008"},{"key":"S0263574722000893_ref69","doi-asserted-by":"crossref","first-page":"1747","DOI":"10.3906\/elk-1311-129","article-title":"Reinforcement learning-based mobile robot navigation","volume":"24","author":"Altunta\u015f","year":"2016","journal-title":"Turkish J. Electric. Eng. Comput. Sci"},{"key":"S0263574722000893_ref47","doi-asserted-by":"crossref","unstructured":"[47] Garibotto, G. and Masciangelo, S. , \u201cPath Planning Using the Potential Field Approach for Navigation,\u201d In: Fifth International Conference on Advanced Robotics\u2019 Robots in Unstructured Environments (IEEE, 1991) pp. 1679\u20131682.","DOI":"10.1109\/ICAR.1991.240366"},{"key":"S0263574722000893_ref23","doi-asserted-by":"crossref","unstructured":"[23] Lucidarme, P. , Simonin, O. and et al., \u201cImplementation and Evaluation of A satisfaction\/altruism Based Architecture for Multi-Robot Systems,\u201d In: Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2002., (IEEE, vol. 1, 2002) pp. 1007\u20131012.","DOI":"10.1109\/ROBOT.2002.1013487"},{"key":"S0263574722000893_ref33","doi-asserted-by":"crossref","first-page":"122","DOI":"10.1108\/IJIUS-04-2015-0004","article-title":"Employing nonlinear observer for formation control of AUVs under communication constraints","volume":"3","author":"Das","year":"2015","journal-title":"International Journal of Intelligent Unmanned Systems"},{"key":"S0263574722000893_ref15","unstructured":"[15] Hichri, B. , Design and control of collaborative, cross and carry mobile robots: C3Bots. PhD thesis, Universit\u00e9 Blaise Pascal-Clermont-Ferrand II (2015)."},{"key":"S0263574722000893_ref29","doi-asserted-by":"crossref","unstructured":"[29] van den Broek, T. H. , van de Wouw, N. and Nijmeijer, H. , \u201cFormation Control of Unicycle Mobile Robots: A Virtual Structure Approach,\u201d In: Proceedings of the 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC\/CCC 2009 (IEEE, 2009) pp. 8328\u20138333.","DOI":"10.1109\/CDC.2009.5399803"},{"key":"S0263574722000893_ref1","doi-asserted-by":"crossref","first-page":"4924","DOI":"10.1002\/rnc.5021","article-title":"A geometric approach to target convergence and obstacle avoidance of a nonstandard tractor-trailer robot","volume":"30","author":"Prasad","year":"2020","journal-title":"Int. J. Robust. Nonlin."},{"key":"S0263574722000893_ref45","unstructured":"[45] Zhu, D. and Latombe, J.-C. , New heuristic algorithms for efficient hierarchical path planning, Tech. Rep., Stanford Univ, CA, Dept of Computer Science, (1989)."},{"key":"S0263574722000893_ref82","doi-asserted-by":"crossref","unstructured":"[82] Saffari, M. and Mahjoob, M. , \u201cBee Colony Algorithm for Real-Time Optimal Path PLanning of Mobile Robots,\u201d In: 2009 Fifth International Conference on Soft Computing, Computing with Words and Perceptions in System Analysis, Decision and Control (IEEE, 2009) pp. 1\u20134.","DOI":"10.1109\/ICSCCW.2009.5379462"},{"key":"S0263574722000893_ref60","unstructured":"[60] Raguraman, S. , Tamilselvi, D. and Shivakumar, N. , \u201cMobile Robot Navigation Using Fuzzy Logic Controller,\u201d In: 2009 International Conference on Control, Automation, Communication and Energy Conservation (IEEE, 2009) pp. 1\u20135."},{"key":"S0263574722000893_ref105","doi-asserted-by":"crossref","first-page":"947","DOI":"10.1360\/aas-007-0947","article-title":"Robust leader-follower formation control of mobile robots based on a second order kinematics model","volume":"33","author":"S.-C.","year":"2007","journal-title":"Acta Automat. Sin"},{"key":"S0263574722000893_ref70","doi-asserted-by":"crossref","first-page":"7112","DOI":"10.1109\/CAC.2017.8244061","volume-title":"2017 Chinese Automation Congress (CAC)","author":"Xin","year":"2017"},{"key":"S0263574722000893_ref84","doi-asserted-by":"crossref","first-page":"317","DOI":"10.1007\/s11465-014-0304-z","article-title":"A new efficient optimal path planner for mobile robot based on invasive weed optimization algorithm","volume":"9","author":"Mohanty","year":"2014","journal-title":"Front. Mech. Eng"},{"key":"S0263574722000893_ref97","doi-asserted-by":"crossref","first-page":"27111","DOI":"10.1109\/ACCESS.2018.2833158","article-title":"Completion of collision avoidance control algorithm for multicopters based on geometrical constraints","volume":"6","author":"Thanh","year":"2018","journal-title":"IEEE Access"},{"key":"S0263574722000893_ref75","doi-asserted-by":"crossref","first-page":"210","DOI":"10.1061\/(ASCE)0733-9496(2003)129:3(210)","article-title":"Optimization of water distribution network design using the shuffled frog leaping algorithm","volume":"129","author":"Eusuff","year":"2003","journal-title":"J. Water Res. Plan. Manage."},{"key":"S0263574722000893_ref14","unstructured":"[14] Eberhart, R. and Kennedy, J. , \u201cA New Optimiser Using Particle Swarm Theory in Proceedings of the Sixth International Symposium on Micro Machine and Human Science,\u201d In: Proc. Sixth International Symposium on Micro Machine and Human Science (1995) pp. 39\u201343."},{"key":"S0263574722000893_ref38","volume-title":"Principles of Robot Motion: Theory, Algorithms, and Implementation","author":"Choset"},{"key":"S0263574722000893_ref63","unstructured":"[63] Xang, X. , Nature inspired meta-heuristic algorithm (2008)."},{"key":"S0263574722000893_ref93","first-page":"021","article-title":"Time optimal path planning based on differential evolution algorithm","volume":"12","author":"Deyun","year":"2005","journal-title":"Comput. Eng. Appl"},{"key":"S0263574722000893_ref74","doi-asserted-by":"crossref","first-page":"469","DOI":"10.1016\/j.robot.2008.10.024","article-title":"A survey of robot learning from demonstration","volume":"57","author":"Argall","year":"2009","journal-title":"Robot. Auton. Syst."},{"key":"S0263574722000893_ref106","doi-asserted-by":"crossref","first-page":"1147","DOI":"10.1016\/j.mechatronics.2011.06.006","article-title":"Nonlinear coordination control for a group of mobile robots using a virtual structure","volume":"21","author":"Mehrjerdi","year":"2011","journal-title":"Mechatronics"},{"key":"S0263574722000893_ref80","unstructured":"[80] Karaboga, D. , An idea based on honey bee swarm for numerical optimization. Tech. Rep., Technical report-tr06, Erciyes university, engineering faculty, computer (2005)."},{"key":"S0263574722000893_ref20","doi-asserted-by":"crossref","unstructured":"[20] Kernbach, S. , Meister, E. , Schlachter, F. , Jebens, K. , Szymanski, M. , Liedke, J. , Laneri, D. , Winkler, L. , Schmickl, T. , Thenius, R. , et al., \u201cSymbiotic Robot Organisms: Replicator and Symbrion Projects,\u201d In: Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems (ACM, 2008) pp. 62\u201369.","DOI":"10.1145\/1774674.1774685"},{"key":"S0263574722000893_ref56","doi-asserted-by":"crossref","first-page":"18","DOI":"10.1109\/4235.585889","article-title":"Adaptive evolutionary planner\/navigator for mobile robots","volume":"1","author":"Xiao","year":"1997","journal-title":"IEEE Trans. Evol. Comput."},{"key":"S0263574722000893_ref42","unstructured":"[42] \u0160eda, M. , \u201cRoadmap Methods vs. Cell Decomposition in Robot Motion Planning,\u201d In: Proceedings of the 6th WSEAS International Conference on Signal Processing, Robotics and Automation (2007) pp. 127\u2013132."},{"key":"S0263574722000893_ref103","doi-asserted-by":"crossref","first-page":"1143","DOI":"10.1016\/j.conengprac.2013.04.004","article-title":"Robust formation control without velocity measurement of the leader robot","volume":"21","author":"Ghommam","year":"2013","journal-title":"Cont. Eng. Pract."},{"key":"S0263574722000893_ref8","doi-asserted-by":"crossref","first-page":"651","DOI":"10.1109\/21.370196","article-title":"Hierarchical path planning in a multi-robot environment with a simple navigation function","volume":"25","author":"Conte","year":"1995","journal-title":"IEEE Trans. Syst. Man Cybernet."},{"key":"S0263574722000893_ref5","unstructured":"[5] Ehlert, P. , The use of artificial intelligence robots, Report on research project (1999)."},{"key":"S0263574722000893_ref31","doi-asserted-by":"crossref","unstructured":"[31] Benzerrouk, A. , Adouane, L. , Lequievre, L. and Martinet, P. , \u201cNavigation of Multi-Robot Formation in Unstructured Environment Using Dynamical Virtual Structures,\u201d In: 2010 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE, 2010) pp. 5589\u20135594.","DOI":"10.1109\/IROS.2010.5651103"},{"key":"S0263574722000893_ref26","unstructured":"[26] Adouane, L. , Architectures de contr\u00f4le comportementales et r\u00e9actives pour la coop\u00e9ration d\u2019un groupe de robots mobiles. PhD thesis, Universit\u00e9 de Franche-Comt\u00e9 (2005)."},{"key":"S0263574722000893_ref96","doi-asserted-by":"crossref","DOI":"10.1177\/1729881418767575","article-title":"Simple nonlinear control of quadcopter for collision avoidance based on geometric approach in static environment","volume":"15","author":"Thanh","year":"2018","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"S0263574722000893_ref32","doi-asserted-by":"crossref","first-page":"223","DOI":"10.1016\/j.mechatronics.2016.10.015","article-title":"A hardware in the loop simulation testbed for vision-based leader-follower formation flight,","volume":"47","author":"Dehghani","year":"2017","journal-title":"Mechatronics"},{"key":"S0263574722000893_ref53","author":"Holland","journal-title":"Adaptation in Natural and Artificial Systems: An Introductory Analysis with Applications to Biology, Control, and Artificial Intelligence"},{"key":"S0263574722000893_ref109","first-page":"9","article-title":"Experimental comparison of control laws for unicycle-type mobile robots","volume":"1","author":"Kim","journal-title":"SAT"},{"key":"S0263574722000893_ref72","article-title":"Deep reinforcement learning for real autonomous mobile robot navigation in indoor environments","author":"Surmann","year":"2020","journal-title":"CoRR,"},{"key":"S0263574722000893_ref10","doi-asserted-by":"crossref","first-page":"90","DOI":"10.1177\/027836498600500106","article-title":"Real-time obstacle avoidance for manipulators and mobile robots","volume":"5","author":"Khatib","year":"1986","journal-title":"Int. J. Robot. Res"},{"key":"S0263574722000893_ref95","doi-asserted-by":"crossref","first-page":"993","DOI":"10.1017\/S0263574713000313","article-title":"A simple biologically inspired algorithm for collision-free navigation of a unicycle-like robot in dynamic environments with moving obstacles","volume":"31","author":"Savkin","year":"2013","journal-title":"Robotica"},{"key":"S0263574722000893_ref44","doi-asserted-by":"crossref","unstructured":"[44] Barbehenn, M. and Hutchinson, S. , \u201cToward an Exact Incremental Geometric Robot Motion PLanner,\u201d In: Proceedings 1995 IEEE\/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots (IEEE, vol. 3, 1995) pp. 39\u201344.","DOI":"10.1109\/IROS.1995.525859"},{"key":"S0263574722000893_ref4","first-page":"1","volume-title":"2018 IEEE Congress on Evolutionary Computation (CEC)","author":"Tuba","year":"2018"},{"key":"S0263574722000893_ref22","doi-asserted-by":"crossref","first-page":"35","DOI":"10.1007\/978-4-431-67919-6_4","volume-title":"Distributed Autonomous Robotic Systems 4","author":"Simonin","year":"2000"},{"key":"S0263574722000893_ref24","unstructured":"[24] Sadowska, A. D. , Formation control of nonholonomic mobile robots: the virtual structure approach. PhD thesis, Queen Mary University of London (2012)."},{"key":"S0263574722000893_ref58","unstructured":"[58] Shi, P. and Cui, Y. , \u201cDynamic Path Planning for Mobile Robot Based on Genetic Algorithm in Unknown Environment,\u201d In: 2010 Chinese Control and Decision Conference (IEEE, 2010) pp. 4325\u20134329."},{"key":"S0263574722000893_ref76","doi-asserted-by":"crossref","unstructured":"[76] Ni, J. , Yin, X. , Chen, J. and Li, X. , \u201cAn Improved Shuffled Frog Leaping Algorithm for Robot Path PLanning,\u201d In: 2014 10th International Conference on Natural Computation (ICNC) (IEEE, 2014) pp. 545\u2013549.","DOI":"10.1109\/ICNC.2014.6975893"},{"key":"S0263574722000893_ref81","doi-asserted-by":"crossref","first-page":"319","DOI":"10.1016\/j.asoc.2015.01.067","article-title":"Mobile robot path planning using artificial bee colony and evolutionary programming","volume":"30","author":"Contreras-Cruz","year":"2015","journal-title":"Appl. Soft Comput."},{"key":"S0263574722000893_ref71","doi-asserted-by":"crossref","first-page":"6932","DOI":"10.1109\/LRA.2020.3026638","article-title":"Mobile robot path planning in dynamic environments through globally guided reinforcement learning","volume":"5","author":"Wang","year":"2020","journal-title":"IEEE Robot. Automat. Lett"},{"key":"S0263574722000893_ref98","doi-asserted-by":"crossref","first-page":"777","DOI":"10.1109\/87.960341","article-title":"A coordination architecture for spacecraft formation control","volume":"9","author":"Beard","year":"2001","journal-title":"IEEE Trans. Contr. Syst. Technol."},{"key":"S0263574722000893_ref30","doi-asserted-by":"crossref","first-page":"1886","DOI":"10.1080\/00207179.2011.627686","article-title":"A virtual structure approach to formation control of unicycle mobile robots using mutual coupling","volume":"84","author":"Sadowska","year":"2011","journal-title":"Int. J. Cont."},{"key":"S0263574722000893_ref112","doi-asserted-by":"crossref","unstructured":"[112] Kanayama, Y. , Kimura, Y. , Miyazaki, F. and Noguchi, T. , \u201cA Stable Tracking Control Method for A Non-Holonomic Mobile Robot,\u201d In: Proceedings of the IEEE\/RSJ International Workshop on Intelligent Robots and Systems\u2019, IROS\u201991.\u2019 (IEEE, 1991) pp. 1236\u20131241.","DOI":"10.1109\/IROS.1991.174669"},{"key":"S0263574722000893_ref77","doi-asserted-by":"crossref","first-page":"123","DOI":"10.1016\/j.engappai.2015.05.011","article-title":"MOSFLA-MRPP: Multi-objective shuffled frog-leaping algorithm applied to mobile robot path planning","volume":"44","author":"Hidalgo-Paniagua","year":"2015","journal-title":"Eng. Appl. Artif. Intel."},{"key":"S0263574722000893_ref85","doi-asserted-by":"crossref","first-page":"311","DOI":"10.1109\/NaBIC.2011.6089465","volume-title":"2011 Third World Congress on Nature and Biologically Inspired Computing","author":"Sengupta","year":"2011"},{"key":"S0263574722000893_ref55","first-page":"565","volume-title":"ICGA","author":"Shing","year":"1993"},{"key":"S0263574722000893_ref100","first-page":"210","article-title":"Formation control of multiple mobile robots via switching strategy","volume":"5","author":"Wu","year":"2009","journal-title":"Int. J. Inform. Syst. Sci"},{"key":"S0263574722000893_ref67","doi-asserted-by":"crossref","first-page":"279","DOI":"10.1360\/aas-007-0279","article-title":"Ant colony system algorithm for real-time globally optimal path planning of mobile robots","volume":"33","author":"Guan-Zheng","year":"2007","journal-title":"Acta Automat. Sin"},{"key":"S0263574722000893_ref107","doi-asserted-by":"crossref","unstructured":"[107] van den Broek, T. , van de Wouw, N. and Nijmeijer, H. , A virtual structure approach to formation control of unicycle mobile robots, Eindhoven University of Technology, the Netherlands, Tech. Rep. DCT (2009).","DOI":"10.1109\/CDC.2009.5399803"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574722000893","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,27]],"date-time":"2024-09-27T18:13:35Z","timestamp":1727460815000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574722000893\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,6,24]]},"references-count":112,"journal-issue":{"issue":"12","published-print":{"date-parts":[[2022,12]]}},"alternative-id":["S0263574722000893"],"URL":"https:\/\/doi.org\/10.1017\/s0263574722000893","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,6,24]]}}}