@conference {2017m-SolFurCorFra,
	title = {Multi-Robot Path Planning with Maintenance of Generalized Connectivity},
	booktitle = {The 1st Int. Symp. on Multi-Robot and Multi-Agent Systems},
	year = {2017},
	month = {12/2017},
	address = {Los Angeles, CA},
	abstract = { This paper addresses the problem of generating a path for a fleet of robots navigating in a cluttered environment, while maintaining the so called generalized connectivity. The main challenge in the management of a group of robots is to ensure the coordination between them, taking into account limitations in communication range and sensors, possible obstacles, inter-robot avoidance and other constraints. The Generalized Connectivity Maintenance (GCM) theory already provides a way to represent and consider the aforementioned constraints, but previous works only find solutions via locally-steering functions that do not provide global and optimal solutions. In this work, we merge the GCM theory with randomized path- planning approaches, and local path optimization techniques to derive a tool that can provide global, good-quality paths. The proposed approach has been intensively tested and verified by mean of numerical simulations.},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2017m-SolFurCorFra-preprint.pdf},
	author = {Yoann Solana and Michele Furci and Juan Cort{\'e}s and Antonio Franchi}
}
