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In environments where multiple robots must coordinate in a shared space,decentralized approaches allow for decoupled planning at the cost of globalguarantees, while centralized approaches make the opposite trade-off. Thesesolutions make a range of assumptions - commonly, that all the robots share thesame planning strategies. In this work, we present a framework that ensuresprogress for all robots without assumptions on any robot's planning strategy by(1) generating a partition of the environment into "flow", "open", and"passage" regions and (2) imposing a set of rules for robot motion in theseregions. These rules for robot motion prevent deadlock through an adaptivelycentralized protocol for resolving spatial conflicts between robots. Ourproposed framework ensures progress for all robots without a grid-likediscretization of the environment or strong requirements on robotcommunication, coordination, or cooperation. Each robot can freely choose howto plan and coordinate for itself, without being vulnerable to other robots orgroups of robots blocking them from their goals, as long as they follow therules when necessary. We describe our space partition and motion rules, provethat the motion rules suffice to guarantee progress in partitionedenvironments, and demonstrate several cases in simulated polygonalenvironments. This work strikes a balance between each robot's planningindependence and a guarantee that each robot can always reach any goal infinite time.

Ensuring Progress for Multiple Mobile Robots via Space Partitioning, Motion Rules, and Adaptively Centralized Conflict Resolution