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The problem of planning the motion is investigated for distributed multiple mobile agents A method is proposed for a few heterogeneous mobile agents (robots) of diierent sizes and moving capabitilies to coordinate their motions in a distributed manner to achieve a map-making task. The agents are assumed to have suucient memory to store the map and to be able to communicate with each other. Our approach makes use of an occupancy grid and a map is to be completed to a speciied resolution. The algorithm is described and computer simulation of the algorithm is reported.

Planning Cooperative Motion for Distributed Mobile Agents