In the last two months, the TRAFCON team started to develop the planning strategy and proceeded with the construction of the arena.

For the path planning, two main situations have been considered: the startup and the online phase. At startup, where some waiting time is tolerated, an efficient but time consuming multi-robot planning strategy exploiting the traffic measure has been developed. For the online phase, where waiting time  is not be tolerated, a sub-optimal but computationally efficient planning strategy is being developed.

The localization system has been installed in the arena and some experiments have been run for testing it.