DeepAI AI Chat
Log In Sign Up

Multi-Modal Multi-Agent Optimization for LIMMS, A Modular Robotics Approach to Delivery Automation

by   Xuan Lin, et al.

In this paper we present a motion planner for LIMMS, a modular multi-agent, multi-modal package delivery platform. A single LIMMS unit is a robot that can operate as an arm or leg depending on how and what it is attached to, e.g., a manipulator when it is anchored to walls within a delivery vehicle or a quadruped robot when 4 are attached to a box. Coordinating amongst multiple LIMMS, when each one can take on vastly different roles, can quickly become complex. For such a planning problem we first compose the necessary logic and constraints. The formulation is then solved for skill exploration and can be implemented on hardware after refinement. To solve this optimization problem we use alternating direction method of multipliers (ADMM). The proposed planner is experimented under various scenarios which shows the capability of LIMMS to enter into different modes or combinations of them to achieve their goal of moving shipping boxes.


Towards computing low-makespan solutions for multi-arm multi-task planning problems

We propose an approach to find low-makespan solutions to multi-robot mul...

Design and Verification of a Novel Triphibian Platform

Multi-modal robots expand their operations from one working media to ano...

Refinement Modal Logic

In this paper we present refinement modal logic. A refinement is like a...

Multi-Modal Motion Planning Using Composite Pose Graph Optimization

In this paper, we present a motion planning framework for multi-modal ve...