Umili, Elena (Sapienza University of Rome), Tognon, Marco (ETH Zurich), Sanalitro, Dario (LAAS-CNRS), Oriolo, Giuseppe (Sapienza Università di Roma), Franchi, Antonio (University of Twente)

Communication-Based and Communication-Less Approaches for Robust Cooperative Planning in Construction with a Team of UAVs

Scheduled for presentation during the Regular Session "Networked Swarms I" (WeB3), Wednesday, September 2, 2020, 16:00−16:20, Edessa

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on April 20, 2024

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.