Multi-robot coordination for a heterogeneous fleet of robots

Pereira, Diogo; Matos, Diogo; Rebelo, Paulo; Ribeiro, Fillipe; Costa, Pedro; Lima, José

Publication

Multi-robot coordination for a heterogeneous fleet of robots

2023Conference paper

dc.contributor.author	Pereira, Diogo
dc.contributor.author	Matos, Diogo
dc.contributor.author	Rebelo, Paulo
dc.contributor.author	Ribeiro, Fillipe
dc.contributor.author	Costa, Pedro
dc.contributor.author	Lima, José
dc.date.accessioned	2023-03-06T14:17:10Z
dc.date.available	2023-03-06T14:17:10Z
dc.date.issued	2023
dc.description.abstract	There is an increasing need for autonomous mobile robots (AMRs) in industrial environments. The capability of autonomous movement and transportation of items in industrial environments provides a significant increase in productivity and efficiency. This need, coupled with the possibility of controlling groups of heterogeneous robots, simultaneously addresses a wide range of tasks with different characteristics in the same environment, further increasing productivity and efficiency. This paper will present an implementation of a system capable of coordinating a fleet of heterogeneous robots with robustness. The implemented system must be able to plan a safe and efficient path for these different robots. To achieve this task, the TEA* (Time Enhanced A*) graph search algorithm will be used to coordinate the paths of the robots, along with a graph decomposition module that will be used to improve the efficiency and safety of this system. The project was implemented using the ROS framework and the Stage simulator. Results validate the proposed approach since the system was able to coordinate a fleet of robots in various different tests efficiently and safely, given the heterogeneity of the robots.	pt_PT
dc.description.sponsorship	This work is financed by the ERDF - European Regional Development Fund, through the Operational Programme for Competitiveness and Internationalisa tion - COMPETE 2020 Programme under the Portugal 2020 Partnership Agree ment, within project CrossLog, with reference POCI-01-0247-FEDER-039895	pt_PT
dc.description.version	info:eu-repo/semantics/publishedVersion	pt_PT
dc.identifier.citation	Pereira, Diogo; Matos, Diogo; Rebelo, Paulo; Ribeiro, Fillipe; Costa, Pedro; Lima, José (2023). Multi-robot coordination for a heterogeneous fleet of robots. In 5th Iberian Robotics Conference, ROBOT 2022. p. 229 - 240. ISBN 978-3-0312-1061-7	pt_PT
dc.identifier.doi	10.1007/978-3-031-21062-4_19	pt_PT
dc.identifier.isbn	978-3-0312-1061-7
dc.identifier.issn	2367-3370
dc.identifier.uri	http://hdl.handle.net/10198/27481
dc.language.iso	eng	pt_PT
dc.peerreviewed	yes	pt_PT
dc.publisher	Springer
dc.rights.uri	http://creativecommons.org/licenses/by/4.0/	pt_PT
dc.subject	Robot	pt_PT
dc.subject	Coordination	pt_PT
dc.subject	STEM	pt_PT
dc.title	Multi-robot coordination for a heterogeneous fleet of robots	pt_PT
dc.type	conference paper
dspace.entity.type	Publication
oaire.citation.conferencePlace	Zaragoza	pt_PT
oaire.citation.endPage	240	pt_PT
oaire.citation.startPage	229	pt_PT
oaire.citation.title	5th Iberian Robotics Conference, ROBOT 2022	pt_PT
oaire.citation.volume	590	pt_PT
person.familyName	Lima
person.givenName	José
person.identifier	R-000-8GD
person.identifier.ciencia-id	6016-C902-86A9
person.identifier.orcid	0000-0001-7902-1207
person.identifier.rid	L-3370-2014
person.identifier.scopus-author-id	55851941311
rcaap.rights	openAccess	pt_PT
rcaap.type	conferenceObject	pt_PT
relation.isAuthorOfPublication	d88c2b2a-efc2-48ef-b1fd-1145475e0055
relation.isAuthorOfPublication.latestForDiscovery	d88c2b2a-efc2-48ef-b1fd-1145475e0055