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In this paper, a new algorithm for cooperative path planning in a
multi-robot system is introduced. The algorithm is specially
designed for a distributed system with a large number of robots, all
of which should be able to reach their respective goal positions
without blocking each other, even if the environment is heavily
constricted by obstacles. The basic idea of the approach is based on
fully distributed path planning without any central instance, but
with the ability of communication and cooperation between the
robots. Path planning is done on local sections of the time-space
configuration space. Dynamic conflicts between the robots are solved
by the heuristic adjustment of priority values. By a continuous
enhancement of all plans the algorithm is very robust against
dynamic changes and erroneous robot behavior.
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