Planning multiple autonomous robots motion in space and time

We address the problem of planning the motion of multiple autonomous robots, by analysing their behaviour in space and time, Proper representations have been studiedf o r both domains, with a particular emphasis on the definition of some peqormance indexes to weight the goodness of a path concerning motion and time performances. Sublinear algorithms have been usedfor planning in space while reasoning in the temporal domain is bused on a proper subdivision of the time axis that leads to polynomial algorithms.