Multi-Agent Collaboration for Building Construction
This addresses a specific robotics challenge for multi-agent systems in construction, but it is incremental as it applies existing methods to a new competition scenario.
The paper tackles the problem of coordinating UAVs and a UGV for pick-and-place operations to build structures, as defined in the MBZIRC 2020 challenge, by developing algorithms and a task planner implemented in ROS and simulated in Gazebo.
This paper details the algorithms involved and task planner for vehicle collaboration in building a structure. This is the problem defined in challenge 2 of Mohammed Bin Zayed International Robotic Challenge 2020 (MBZIRC). The work addresses various aspects of the challenge for Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicle (UGV). The challenge involves repeated pick and place operations using UAVs and UGV to build two structures of different shape and sizes. The algorithms are implemented using the Robot Operating System (ROS) framework and visualised in Gazebo. The whole developed architecture could readily be implemented in suitable hardware.