Computer Science > Robotics
arXiv:2303.06624 (cs)
[Submitted on 12 Mar 2023 (v1), last revised 21 Jul 2023 (this version, v4)]
Title:Collaborative Trolley Transportation System with Autonomous Nonholonomic Robots
View a PDF of the paper titled Collaborative Trolley Transportation System with Autonomous Nonholonomic Robots, by Bingyi Xia and 7 other authors
View PDFAbstract:Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and decision-making framework that operates in real time. This paper presents an autonomous nonholonomic multi-robot system and an end-to-end hierarchical autonomy framework for collaborative luggage trolley transportation. This framework finds kinematic-feasible paths, computes online motion plans, and provides feedback that enables the multi-robot system to handle long lines of luggage trolleys and navigate obstacles and pedestrians while dealing with multiple inherently complex and coupled constraints. We demonstrate the designed collaborative trolley transportation system through practical transportation tasks, and the experiment results reveal their effectiveness and reliability in complex and dynamic environments.
| Subjects: | Robotics (cs.RO) |
| Cite as: | arXiv:2303.06624 [cs.RO] |
| (orarXiv:2303.06624v4 [cs.RO] for this version) | |
| https://doi.org/10.48550/arXiv.2303.06624 arXiv-issued DOI via DataCite |
Submission history
From: Xia Bingyi [view email][v1] Sun, 12 Mar 2023 09:47:38 UTC (5,681 KB)
[v2] Thu, 30 Mar 2023 04:57:41 UTC (5,682 KB)
[v3] Mon, 3 Apr 2023 03:06:35 UTC (5,681 KB)
[v4] Fri, 21 Jul 2023 08:09:16 UTC (5,701 KB)
Full-text links:
Access Paper:
- View PDF
- TeX Source
- Other Formats
View a PDF of the paper titled Collaborative Trolley Transportation System with Autonomous Nonholonomic Robots, by Bingyi Xia and 7 other authors
References & Citations
Bookmark
Bibliographic and Citation Tools
Bibliographic Explorer(What is the Explorer?)
Connected Papers(What is Connected Papers?)
Litmaps(What is Litmaps?)
scite Smart Citations(What are Smart Citations?)
Code, Data and Media Associated with this Article
alphaXiv(What is alphaXiv?)
CatalyzeX Code Finder for Papers(What is CatalyzeX?)
DagsHub(What is DagsHub?)
Gotit.pub(What is GotitPub?)
Hugging Face(What is Huggingface?)
Papers with Code(What is Papers with Code?)
ScienceCast(What is ScienceCast?)
Demos
Recommenders and Search Tools
Influence Flower(What are Influence Flowers?)
CORE Recommender(What is CORE?)
arXivLabs: experimental projects with community collaborators
arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.
Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.
Have an idea for a project that will add value for arXiv's community?Learn more about arXivLabs.