  Multi-robot teams have attracted attention from industry and academia for
their ability to perform collaborative tasks in unstructured environments, such
as wilderness rescue and collaborative transportation.In this paper, we propose
a trajectory planning method for a non-holonomic robotic team with
collaboration in unstructured environments.For the adaptive state collaboration
of a robot team to catch and transport targets to be rescued using a net, we
model the process of catching the falling target with a net in a continuous and
differentiable form.This enables the robot team to fully exploit the kinematic
potential, thereby adaptively catching the target in an appropriate
state.Furthermore, the size safety and topological safety of the net, resulting
from the collaborative support of the robots, are guaranteed through geometric
constraints.We integrate our algorithm on a car-like robot team and test it in
simulations and real-world experiments to validate our performance.Our method
is compared to state-of-the-art multi-vehicle trajectory planning methods,
demonstrating significant performance in efficiency and trajectory quality.
