Cooperative Aerial-Ground Multi-Robot System for Automated Construction Tasks
arXiv:2204.13926 · doi:10.1109/LRA.2020.2965855
Abstract
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.
arXiv commentAlso included in conference proceedings of IEEE International Conference on Robotics and Automation (ICRA) 2020
References in corpus (1)
Cited by in corpus (6)
- Distance-based Multiple Non-cooperative Ground Target Encirclement for Complex Environments
- Metaheuristic planner for cooperative multi-agent wall construction with UAVs
- An Efficient Ground-aerial Transportation System for Pest Control Enabled by AI-based Autonomous Nano-UAVs
- Distributed Allocation and Scheduling of Tasks with Cross-Schedule Dependencies for Heterogeneous Multi-Robot Teams
- Mission-level Robustness with Rapidly-deployed, Autonomous Aerial Vehicles by Carnegie Mellon Team Tartan at MBZIRC 2020
- Heterogeneous Multi-robot Task Allocation for Long-Endurance Missions in Dynamic Scenarios