  In this work, we address traffic management of multiple payload transport
systems comprising of non-holonomic robots. We consider loosely coupled rigid
robot formations carrying a payload from one place to another. Each payload
transport system (PTS) moves in various kinds of environments with obstacles.
We ensure each PTS completes its given task by avoiding collisions with other
payload systems and obstacles as well. Each PTS has one leader and multiple
followers and the followers maintain a desired distance and angle with respect
to the leader using a decentralized leader-follower control architecture while
moving in the traffic. We showcase, through simulations the time taken by each
PTS to traverse its respective trajectory with and without other PTS and
obstacles. We show that our strategies help manage the traffic for a large
number of PTS moving from one place to another.
