2019/06/27 by Yahnit Sirineni, Sirineni, Yahnit, Pulkit Verma +3
Computer Science · Engineering · #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #Modular Robots and Swarm Intelligence #Multiagent Systems (cs.MA) #Robotic Path Planning Algorithms #Robotics (cs.RO) #Traffic control and management
paper · pdf · doi:10.48550/arxiv.1906.11452
openalex publication_date 2019/06/27 · openalex created_date 2022/07/28 · openalex updated_date 2026/07/28
In this work, we address traffic management of multiple payload transport\nsystems comprising of non-holonomic robots. We consider loosely coupled rigid\nrobot formations carrying a payload from one place to another. Each payload\ntransport system (PTS) moves in various kinds of environments with obstacles.\nWe ensure each PTS completes its given task by avoiding collisions with other\npayload systems and obstacles as well. Each PTS has one leader and multiple\nfollowers and the followers maintain a desired distance and angle with respect\nto the leader using a decentralized leader-follower control architecture while\nmoving in the traffic. We showcase, through simulations the time taken by each\nPTS to traverse its respective trajectory with and without other PTS and\nobstacles. We show that our strategies help manage the traffic for a large\nnumber of PTS moving from one place to another.\n