Ankit, KumarTony, Lima AgnelJana, ShuvrangshuGhose, DebasishUnmanned aerial vehicle (UAV) applications with pick-and-place operation are plenty, and the same prevails in unmanned ground vehicle (UGV) domain. But low payload capacity for a UAV and the limited sensing capability of a UGV limit them to automate heavy-duty and large-scale construction. This complementary nature of these agents can be utilized together to cater to the needs of long-term autonomous construction. Thereby, we propose a software framework with its algorithmic details for multi-vehicle collaboration for autonomous pick-and-place operation. Three UAVs and a UGV coordinate among themselves to pick bricks of different sizes and place them at a specific location in a predetermined orientation. At the core of the decision-making process, distance-based optimization is done to generate the route plan for the agents. Generated route plan is then sent to agents via a scheduler which keeps their operations in check and, in case of failures, helps them recover autonomously. The framework provides end-to-end details on multi-vehicle pick-and-place operation, keeping collisions and failures in check. The software is developed in ROS and Gazebo environment and ready to implement on hardware. The modeling approach makes it easy to be modified and deployed to cater to any application such as warehouse stock management and package delivery, besides several other applications.
Multi-agent Cooperative Framework for Autonomous Wall Construction
Lecture Notes on Data Engineering and Communications Technologies
2022-07-01
18 pages
Article/Chapter (Book)
Electronic Resource
English
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