Multi-Formation Planning and Coordination for Object Transportation
Weijian Zhang,
Charlie Street,
Masoumeh Mansouri
Abstract:Multi-robot formations have numerous applications, such as cooperative object transportation in smart warehouses. Here, robots must deliver objects in formation while avoiding intra-and inter-formation collisions. This requires solutions to multi-robot task assignment, formation generation, rigid formation maintenance, and route planning. In this paper, we present a cooperative multi-formation object transportation system which explicitly handles inter-formation collisions. For formation generation, we propose… Show more
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