# Collective motion planning for a group of robots using intermittent diffusion

## TL;DR

This paper introduces a novel robot group motion planning method based on optimal transport theory, enabling complex formations with proven collision avoidance and convergence guarantees.

## Contribution

It presents a new approach leveraging optimal transport for collective robot motion planning, with rigorous proofs of safety and convergence.

## Key findings

- Effective shape formation and assembly achieved
- Collision avoidance is guaranteed
- Convergence of the algorithm is rigorously proven

## Abstract

In this work we establish a simple yet effective strategy, based on optimal transport theory, for enabling a group of robots to accomplish complex tasks, such as shape formation and assembly. We demonstrate the feasibility of this approach and rigorously prove collision avoidance and convergence properties of the proposed algorithms.