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Multi-agent Cooperative Framework for Autonomous Wall Construction

Ankit, K and Tony, LA and Jana, S and Ghose, D (2022) Multi-agent Cooperative Framework for Autonomous Wall Construction. [Book Chapter]

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Official URL: https://doi.org/10.1007/978-981-16-9416-5_64


Unmanned 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.

Item Type: Book Chapter
Publication: Lecture Notes on Data Engineering and Communications Technologies
Series.: Lecture Notes on Data Engineering and Communications Technologies
Publisher: Springer Science and Business Media Deutschland GmbH
Additional Information: The copyright for this article belongs to the Springer Science and Business Media Deutschland GmbH.
Keywords: Antennas; Autonomous agents; Computer programming; Ground vehicles; Intelligent vehicle highway systems; Multi agent systems; Unmanned aerial vehicles (UAV), Aerial vehicle; Fault handling; Multi agent; Multi-UAS collaboration; Multi-vehicles; Pick and place; Route plan; Task planning; Vision based; Vision-based pick and place, Decision making
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 28 Jul 2022 09:05
Last Modified: 28 Jul 2022 09:05
URI: https://eprints.iisc.ac.in/id/eprint/75022

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