  In this chapter, we propose a novel approach for solving the coordination of
a fleet of mobile robots, which consists of finding a set of collision-free
trajectories for individual robots in the fleet. This problem is studied for
several decades, and many approaches have been introduced. However, only a
small minority is applicable in practice because of their properties - small
computational requirement, producing solutions near-optimum, and completeness.
The approach we present is based on a multi-robot variant of Rapidly Exploring
Random Tree algorithm (RRT) for discrete environments and significantly
improves its performance. Although the solutions generated by the approach are
slightly worse than one of the best state-of-the-art algorithms presented in
[23], it solves problems where ter Morses algorithm fails.
