IIIT Hyderabad Publications |
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Traffic Management Strategies for Multi-Robotic Rigid Payload Transport SystemsAuthors: Yahnit Sirineni,Pulkit Verma,Kamalakar Karlapalem Conference: IEEE International Symposium on Multi-Robot and Multi-Agent Systems (IEEE MRS 2019 2019) Date: 2019-08-22 Report no: IIIT/TR/2019/69 AbstractIn this work, we address traffic management of multiple payload transport systems (PTS) comprising of non-holonomic robots. Each PTS is a loosely coupled rigid robot formation carrying a payload. We ensure each PTS traverses its desired trajectory while avoiding collisions with other PTS and static obstacles in various kinds of complex environments. Each PTS has one leader and multiple followers and the followers maintain a desired distance and angle w.r.t the leader using a decentralized leader-follower control architecture. We showcase through simulations that our strategies help manage traffic for a large number of PTS moving around. Full paper: pdf Centre for Data Engineering |
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