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1 2 3 4 Acknowledgements As a graduating student in control engineering, the subject of multi-agent systems and autonomo
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obstacle detection and avoidance as key challenges in real-world implementation of The obstacle filter reports unknown obstacles to the path planner. designed which can detect obstacles in its path and maneuver around them without Keywords: obstacle avoidance, ultrasonic sensor, arduino microcontroller, a satisfying way. Obstacle avoidance is fundamental for any practical mobile system and has been extensively studied for single-robot systems [1], [2]. In general
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