The method includes receiving an indication of a second robotic device having a first time parametrized path for a first robotic device and a second time parametrized path overlapping a first time parametrized path at a first location . The method includes the steps of: executing, by a first robotic device, a first portion of a first time parametrized path before reaching a first position, the execution of a first portion comprising: Corresponding to the first progress of the robot device. The first robotic device then receives a communication signal from the second robotic device indicating a second progress of the second robotic device along a second time parametrized path. The method then includes the step of the first robot device determining the difference between the first progress and the second progress, and modifying the execution of the first time parametrized path based on the determined difference.
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