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Multi-mobile robot systems show great advantages over one single robot inmany applications. However, the robots are required to form desiredtask-specified formations, making feasible motions decrease significantly.Thus, it is challenging to determine whether the robots can pass through anobstructed environment under formation constraints, especially in anobstacle-rich environment. Furthermore, is there an optimal path for therobots? To deal with the two problems, a novel graphbased motion planner isproposed in this paper. A mapping between workspace and configuration space ofmulti-mobile robot systems is first built, where valid configurations can beacquired to satisfy both formation constraints and collision avoidance. Then,an undirected graph is generated by verifying connectivity between validconfigurations. The breadth-first search method is employed to answer thequestion of whether there is a feasible path on the graph. Finally, an optimalpath will be planned on the updated graph, considering the cost of path lengthand formation preference. Simulation results show that the planner can beapplied to get optimal motions of robots under formation constraints inobstacle-rich environments. Additionally, different constraints are considered.

A Novel Graph-based Motion Planner of Multi-Mobile Robot Systems with Formation and Obstacle Constraints