  Autonomous navigation of mobile robots is a well studied problem in robotics.
However, the navigation task becomes challenging when multi-robot systems have
to cooperatively navigate dynamic environments with deadlock-prone layouts. We
present a Distributed Timed Elastic Band (DTEB) Planner that combines
Prioritized Planning with the online TEB trajectory Planner, in order to extend
the capabilities of the latter to multi-robot systems. The proposed planner is
able to reactively avoid imminent collisions as well as predictively resolve
potential deadlocks among a team of robots, while navigating in a complex
environment. The results of our simulation demonstrate the reliable performance
and the versatility of the planner in different environment settings. The code
and tests for our approach are available online.
