Hierarchical Multi-Robot Fleet Architecture with a Kinematics-adaptive Drive System

  • This publication derives a flexible and hierarchical fleet control system incorporating a generic drive concept. The implementation of the fleet control has been made available as an open source package. It allows the flexible composition of multiple robot units into an overall unit for the accomplishment of an overall task, e.g. the cooperative transport of a load that would be too heavy for a single system. The control unit of each robot is presented as a stackable electronic solution, which becomes a general-purpose drive system through a generic software stack. Various experiments show the superiority of this hierarchical approach over the state of the art.

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Metadaten
Author:Antonello Pastore, Christian Wendt, Markus Fenn, Stefan MayORCiD
DOI:https://doi.org/10.1109/ICARSC58346.2023.10129620
Parent Title (English):2023 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)
Publisher:IEEE
Document Type:conference proceeding (article)
Language:English
Reviewed:Begutachtet/Reviewed
Release Date:2025/02/18
Pagenumber:6
First Page:145
Last Page:150
institutes:Fakultät für Elektrotechnik Feinwerktechnik Informationstechnik
Research Themes:Digitalisierung & Künstliche Intelligenz
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