Cooperative Aerial-Ground Multi-Robot System for Automated Construction Tasks

04/29/2022
by   Marko Krizmancic, et al.
0

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.

READ FULL TEXT

page 5

page 6

page 7

research
09/28/2022

Scheduling of Missions with Constrained Tasks for Heterogeneous Robot Systems

We present a formal tasK AllocatioN and scheduling apprOAch for multi-ro...
research
07/16/2019

A Quadrotor with an Origami-Inspired Protective Mechanism

Despite advances in localization and navigation, aerial robots inevitabl...
research
05/25/2023

Metaheuristic planner for cooperative multi-agent wall construction with UAVs

This paper introduces a wall construction planner for Unmanned Aerial Ve...
research
03/02/2022

Mission planning for emergency rapid mapping with drones

We introduce a mission planning concept for routing unmanned aerial vehi...
research
12/10/2020

Autonomous Cooperative Wall Building by a Team of Unmanned Aerial Vehicles in the MBZIRC 2020 Competition

This paper presents a system for autonomous cooperative wall building wi...
research
01/06/2023

Contextual Autonomy Evaluation of Unmanned Aerial Vehicles in Subterranean Environments

In this paper we focus on the evaluation of contextual autonomy for robo...

Please sign up or login with your details

Forgot password? Click here to reset