2023/03/12 by Bingyi Xia, Hao Luan, Xia, Bingyi +13 · 2 citations
Computer Science · Engineering · #FOS: Computer and information sciences #Modular Robots and Swarm Intelligence #Robotic Path Planning Algorithms #Robotics (cs.RO) #Transportation and Mobility Innovations
paper · pdf · doi:10.48550/arxiv.2303.06624
openalex publication_date 2023/03/12 · openalex created_date 2023/03/16 · openalex updated_date 2026/08/01
Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and decision-making framework that operates in real time. This paper presents an autonomous nonholonomic multi-robot system and an end-to-end hierarchical autonomy framework for collaborative luggage trolley transportation. This framework finds kinematic-feasible paths, computes online motion plans, and provides feedback that enables the multi-robot system to handle long lines of luggage trolleys and navigate obstacles and pedestrians while dealing with multiple inherently complex and coupled constraints. We demonstrate the designed collaborative trolley transportation system through practical transportation tasks, and the experiment results reveal their effectiveness and reliability in complex and dynamic environments.