An architecture for tightly coupled multi-robot cooperation

TLDR

Proposes an architecture for tightly coupled multi‑robot coordination that is well suited to cooperative manipulation tasks. The architecture assigns a leader and followers, uses communication protocols and control algorithms to guarantee role assignment and coordination, and allows dynamic changes in leadership during task execution. We describe the experimental implementation and demonstration in a cooperative transportation task, in which two and three heterogeneous robots cooperate to carry a large object in an environment containing obstacles.

Abstract

Proposes an architecture for tightly coupled multi-robot coordination that is well suited to cooperative manipulation tasks. At all times, a robot is identified as a leader, while the others are designated as followers. The assignment of roles and the coordination between the robots is guaranteed by communication protocols and control algorithms. The key feature is the flexibility that allows changes in leadership and assignment of roles during the execution of a task. We describe the experimental implementation and demonstration in a cooperative transportation task, in which two and three heterogeneous robots cooperate to carry a large object in an environment containing obstacles.