Renan Maffei,  Silvia Botelho,  Luan Silveira,  Paulo Drews Jr.,  Nelson Duarte Filho,  Alessandro Bicho,  Felipe Almeida,  Matheus Longaray. 

This paper describes a new method of path planning for multiple robots in unknown environments. The method, called Space D*, is based on two algorithms: the D*, which is a incremental graph search algorithm and the Space Colonization algorithm, previously used to simulate crowd behaviors. The major contribution of the proposed method is the focus on generating paths in spacious environments to help facilitate the control of robots, and thus pre- senting itself in a viable way for use in real environments. The results obtained validates the approach and show the advantage in relation to D* method.

http://www.lbd.dcc.ufmg.br/colecoes/enia/2011/0032.pdf

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