Multi-robot cooperation in the MARTHA project

Author

Alami, R. ; Fleury, S. ; Herrb, M. ; Ingrand, F. ; Robert, F.

Author_Institution

Lab. d´´Anal. et d´´Archit. des Syst., Toulouse, France

Volume

5

Issue

1

fYear

1998

fDate

3/1/1998 12:00:00 AM

Firstpage

36

Lastpage

47

Abstract

The MARTHA project objectives are the control and the management of a fleet of autonomous mobile robots for transshipment tasks in harbors, airports and marshalling yards. One of the most challenging and key problems of the MARTHA project is multi-robot cooperation. A general concept for the control of a large fleet of autonomous mobile robots has been developed, implemented and validated in the framework of the MARTHA project. This is the first study in the autonomous mobile robot field to add multi-robot cooperation capabilities to such a large fleet of robots

Keywords

cooperative systems; mobile robots; MARTHA project; airports; autonomous mobile robots; harbors; marshalling yards; multi-robot cooperation; transshipment tasks; Airports; Centralized control; Computer architecture; Containers; Delay estimation; Mobile robots; Navigation; Object detection; Project management; Remotely operated vehicles; Robot control; Robot kinematics; Robot sensing systems; Robotics and automation; Software tools; Solid modeling; System testing;

fLanguage

English

Journal_Title

Robotics & Automation Magazine, IEEE

Publisher

ieee

ISSN

1070-9932

Type

jour

DOI

10.1109/100.667325

Filename

667325