Collaborator: A Nonholonomic Multiagent Team for Tasks in a Dynamic Environment

Figure 5

(a) The robot forward direction has a positive projection on the negative gradient direction; the robot will move forward to guarantee the 𝜃_ni is in the set [−𝜋/2,𝜋/2]. (b) The robot backward direction has a positive projection on the negative gradient direction; the robot will move backward to guarantee that the 𝜃_ni is in the set [−𝜋/2,𝜋/2].

(a)

(b)