{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,25]],"date-time":"2026-01-25T17:50:30Z","timestamp":1769363430110,"version":"3.49.0"},"reference-count":28,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2021,3,27]],"date-time":"2021-03-27T00:00:00Z","timestamp":1616803200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Most path planning algorithms used presently in multi-robot systems are based on offline planning. The Timed Enhanced A* (TEA*) algorithm gives the possibility of planning in real time, rather than planning in advance, by using a temporal estimation of the robot\u2019s positions at any given time. In this article, the implementation of a control system for multi-robot applications that operate in environments where communication faults can occur and where entire sections of the environment may not have any connection to the communication network will be presented. This system uses the TEA* to plan multiple robot paths and a supervision system to control communications. The supervision system supervises the communication with the robots and checks whether the robot\u2019s movements are synchronized. The implemented system allowed the creation and execution of paths for the robots that were both safe and kept the temporal efficiency of the TEA* algorithm. Using the Simtwo2020 simulation software, capable of simulating movement dynamics and the Lazarus development environment, it was possible to simulate the execution of several different missions by the implemented system and analyze their results.<\/jats:p>","DOI":"10.3390\/robotics10020055","type":"journal-article","created":{"date-parts":[[2021,3,28]],"date-time":"2021-03-28T23:27:25Z","timestamp":1616974045000},"page":"55","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Multi AGV Coordination Tolerant to Communication Failures"],"prefix":"10.3390","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5422-2122","authenticated-orcid":false,"given":"Diogo","family":"Matos","sequence":"first","affiliation":[{"name":"Centre for Robotics in Industry and Intelligent Systems (CRIIS)\u2014INESC TEC, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0435-8419","authenticated-orcid":false,"given":"Pedro","family":"Costa","sequence":"additional","affiliation":[{"name":"Centre for Robotics in Industry and Intelligent Systems (CRIIS)\u2014INESC TEC, 4200-465 Porto, Portugal"},{"name":"Faculty of Engineering, University of Porto, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7902-1207","authenticated-orcid":false,"given":"Jos\u00e9","family":"Lima","sequence":"additional","affiliation":[{"name":"Centre for Robotics in Industry and Intelligent Systems (CRIIS)\u2014INESC TEC, 4200-465 Porto, Portugal"},{"name":"Research Centre in Digitalization and Intelligent Robotics (CeDRI), Instituto Polit\u00e9cnico de Bragan\u00e7a, 5300-252 Bragan\u00e7a, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4846-271X","authenticated-orcid":false,"given":"Paulo","family":"Costa","sequence":"additional","affiliation":[{"name":"Centre for Robotics in Industry and Intelligent Systems (CRIIS)\u2014INESC TEC, 4200-465 Porto, Portugal"},{"name":"Faculty of Engineering, University of Porto, 4200-465 Porto, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2021,3,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Ullrich, G. 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