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Collaborative Object Transportation Using Heterogeneous Robots

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Robotics (SBR 2016, LARS 2016)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 619))

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Abstract

The use of multi-robot systems can be seen in many different contexts in recent years. One of them is the object transportation problem, which has many applications, such as simple moving objects as well as in more complex scenarios, like tasks typically involved in building sites and structures assembling. Despite the fact that much effort has been focused on what may apparently be a relatively simple task, several facets of the problem still remain open and need to be tackled. In this work, we propose a complete methodology which encompasses all related stages of the problem (i.e. path planning, task allocation and control). Several experiments with simulated robots and with real ground robots were conducted in order to provide a thorough evaluation and validation of the methodology.

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Acknowledgments

This work was developed with the support of the Conselho Nacional de Desenvolvimento Científico e Tecnológico, Coordenação de Aperfeiçoamento de Pessoal de Nível Superior and Fundação de Amparo à Pesquisa do Estado de Minas Gerais.

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Authors and Affiliations

  1. Computer Vision and Robotics Laboratory, Department of Computer Science, Universidade Federal de Minas Gerais, Belo Horizonte, MG, Brazil

    Ramon S. Melo, Douglas G. Macharet & Mario Fernando M. Campos

Authors
  1. Ramon S. Melo
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  2. Douglas G. Macharet
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  3. Mario Fernando M. Campos
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Corresponding author

Correspondence to Ramon S. Melo .

Editor information

Editors and Affiliations

  1. SSC - Depto. de Sistemas de Computação, USP - University of Sao Paulo (São Carlos), São Carlos, São Paulo, Brazil

    Fernando Santos Osório

  2. UFU – Universidade Federal de Uberlândia , Uberlândia, Minas Gerais, Brazil

    Rogério Sales Gonçalves

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Melo, R.S., Macharet, D.G., Campos, M.F.M. (2016). Collaborative Object Transportation Using Heterogeneous Robots. In: Santos Osório, F., Sales Gonçalves, R. (eds) Robotics. SBR LARS 2016 2016. Communications in Computer and Information Science, vol 619. Springer, Cham. https://doi.org/10.1007/978-3-319-47247-8_11

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  • DOI: https://doi.org/10.1007/978-3-319-47247-8_11

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-47246-1

  • Online ISBN: 978-3-319-47247-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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