Transporte cooperativo de objeto por multi-robôs

Abstract

The transport of object by groups of robots can be advantageous when an object is too large or too heavy to be effectively handled by a single robot alone. It requires the coordination and synchronization of pushing forces to be exercised by the robots. In this paper, we propose a new algorithm called Cooperative Transport of Object (CTO). The algorithm has four stages. The first one implements the search for object. The second stage of the algorithm start when a robot finds the object. It then recruits the other robots. During the third stage each robot first computes then goes to the position it must be located at to execute the pushing actions. When the positioning of all robots around the circular object is completed, the fourth stage commences. Therein, the robots start alternating between pushing and positioning actions to maintain the object within the expected transport trajectory. This is performed until the object is homed. The algorithm is implemented in GRITSBot swarm robots, using Robotarium. The algorithm is effective to carry out the stages and the corresponding performance is promising.