I. Introduction
Generating safe and effective motions for realistic automobiles and autonomous mobile platforms is an important application area of motion planning. Using multiple, coordinating vehicles can offer redundancy and robustness in the execution of many tasks (e.g. space exploration, autonomous demining). Often, both the motivation and the primary concern for deploying such systems in everyday tasks is the issue of safety. One way to achieve safe coordination is to employ inter-vehicle communication so as to avoid collisions and improve the efficiency of the planned motions. This realization has led recently to the active development of vehicle-to-vehicle communication technology [18].