  This paper investigates the online motion coordination problem for a group of
mobile robots moving in a shared workspace. Based on the realistic assumptions
that each robot is subject to both velocity and input constraints and can have
only local view and local information, a fully distributed multi-robot motion
coordination strategy is proposed. Building on top of a cell decomposition, a
conflict detection algorithm is presented first. Then, a rule is proposed to
assign dynamically a planning order to each pair of neighboring robots, which
is deadlock-free. Finally, a two-step motion planning process that combines
fixed-path planning and trajectory planning is designed. The effectiveness of
the resulting solution is verified by a simulation example.
