Cooperative Aerial-Ground Multi-Robot System for Automated Construction Tasks
| Autor: | Stjepan Bogdan, Barbara Arbanas, Marko Krizmancic, Frano Petric, Tamara Petrovic |
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| Rok vydání: | 2022 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Control and Optimization Robotics in Construction Multi-Robot Systems Planning Scheduling and Coordination Computer science Mechanical Engineering Distributed computing Biomedical Engineering Mobile robot 02 engineering and technology Computer Science Applications Scheduling (computing) Human-Computer Interaction Computer Science - Robotics 020901 industrial engineering & automation Robotic systems Artificial Intelligence Control and Systems Engineering 0202 electrical engineering electronic engineering information engineering Robot Computer Science - Multiagent Systems 020201 artificial intelligence & image processing Computer Vision and Pattern Recognition Robotics (cs.RO) Multiagent Systems (cs.MA) |
| DOI: | 10.48550/arxiv.2204.13926 |
| Popis: | In this paper, we study a cooperative aerial-ground robotic team and its application to the task of automated construction. We propose a solution for planning and coordinating the mission of constructing a wall with a predefined structure for a heterogeneous system consisting of one mobile robot and up to three unmanned aerial vehicles. The wall consists of bricks of various weights and sizes, some of which need to be transported using multiple robots simultaneously. To that end, we use hierarchical task representation to specify interrelationships between mission subtasks and employ effective scheduling and coordination mechanism, inspired by Generalized Partial Global Planning. We evaluate the performance of the method under different optimization criteria and validate the solution in the realistic Gazebo simulation environment. Comment: Also included in conference proceedings of IEEE International Conference on Robotics and Automation (ICRA) 2020 |
| Databáze: | OpenAIRE |
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