He paper examines the problem of safe and effective joint movement of groups of mobile robots in a dynamically changing environment. A hybrid architecture is proposed that expands the classical model of mutual growth obstacles by integrating information about the target positions of surrounding robots. The method is implemented as a two-level system: global trajectory planning is performed based on a modified RRT* algorithm, and local management provides real-time operational coordination. Special attention is paid to the rigorous mathematical justification of safety: it is formally proved that the vector displacement of the avoidance area in the direction of the neighbor's goal does not violate the guarantees of uninterrupted movement. The results of computational experiments show that the proposed architecture significantly reduces the frequency of interlocks and increases the proportion of successfully completed missions compared to the basic algorithms.
cooperative navigation, multi-agent systems, mobile robots, collision avoidance, RVO, hybrid architecture, formal safety guarantees, RRT*
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