Communication-based and Communication-less approaches for Robust Cooperative Planning in Construction with a Team of UAVs

Elena Umili, Marco Tognon, Dario Sanalitro, Giuseppe Oriolo, A. Franchi

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

1 Citation (Scopus)
15 Downloads (Pure)

Abstract

In this paper, we analyze the coordination problem of groups of aerial robots for assembly applications. With the enhancement of aerial physical interaction, construction applications are becoming more and more popular. In this domain, the multi-robot solution is very interesting to reduce the execution time. However, new methods to coordinate teams of aerial robots for the construction of complex structures are required. In this work, we propose an assembly planner that considers both assembly and geometric constraints imposed by the particular desired structure and employed robots, respectively. An efficient graph representation of the task dependencies is employed. Based on this framework, we design two assembly planning algorithms that are robust to robot failures. The first is centralized and communication-based. The second is distributed and communication-less. The latter is a solution for scenarios in which the communication network is not reliable. Both methods are validated by numerical simulations based on the assembly scenario of Challenge 2 of the robotic competition MBZIRC2020.
Original languageEnglish
Title of host publication2020 International Conference on Unmanned Aircraft Systems (ICUAS)
Place of PublicationPiscataway, NJ
PublisherIEEE
Number of pages1
ISBN (Electronic)978-1-7281-4278-4
ISBN (Print)978-1-7281-4279-1
DOIs
Publication statusPublished - 1 Sep 2020
EventInternational Conference on Unmanned Aircraft Systems, ICUAS 2020 - Virtual Conference
Duration: 9 Jun 202012 Jun 2020
http://www.uasconferences.com/2020_icuas/

Publication series

NameInternational Conference on Unmanned Aircraft Systems (ICUAS)
PublisherIEEE
Volume2020
ISSN (Print)2373-6720
ISSN (Electronic)2575-7296

Conference

ConferenceInternational Conference on Unmanned Aircraft Systems, ICUAS 2020
Abbreviated titleICUAS 2020
CityVirtual Conference
Period9/06/2012/06/20
Internet address

Keywords

  • Task analysis
  • Robot kinematics
  • Robotic assembly
  • Planning
  • Resource management
  • Robustness

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