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Achieving Complex Collaborative Missions via Decentralized Control and Coordination of Interacting Robots

Objective

Imagine a scenario where multiple robots have been deployed to provide services such as object handling/transportation, or pickup and delivery operations. In such a context, different robots with varying capabilities must be coordinated in order to achieve various multi-tasking procedures. Thus, the effective supervision and coordination of the overall heterogeneous system mandates a decentralized framework that integrates high-level task-planning, low-level motion control and robust, real-time sensing of the robots’ dynamic environment. Current practice is at a great deal based on offline, centralized planning and related tasks are usually fulfilled in a predefined manner: this does not utilize the capabilities of the system to operate efficiently in a dynamic environment. In most cases, sudden changes in the environment, the type of tasks, and the need for coordination, would cause the system to halt, ask for human intervention and restart. Despite the fact that public facilities are in some degree prestructured, the need for a framework for decentralized, real-time, automated task (re)-planning is evident in a twofold manner: (i) it will pave the way to an improved use of resources and a faster accomplishment of tasks inside public facilities and workspaces with high social activity; (ii) it will make an important contribution towards the vision of more flexible multirobot applications in both professional or domestic environments, also in view of the “Industry 4.0” vision and the general need to deploy such systems in everyday life scenarios. Within Co4Robots our goal is to build a systematic methodology to accomplish complex specifications given to a team of potentially heterogeneous robots; control schemes appropriate for the mobility and manipulation capabilities of the considered robots; perceptual capabilities that enable robots to localize themselves and estimate the state of the dynamic environment; and their systematic integration approach.

Call for proposal

H2020-ICT-2016-1
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Funding Scheme

RIA - Research and Innovation action

Coordinator

KUNGLIGA TEKNISKA HOEGSKOLAN
Address
Brinellvagen 8
100 44 Stockholm
Sweden
Activity type
Higher or Secondary Education Establishments
EU contribution
€ 1 271 197,50

Participants (5)

ROBERT BOSCH GMBH
Germany
EU contribution
€ 446 607,50
Address
Robert-bosch-platz 1
70839 Gerlingen-schillerhoehe
Activity type
Private for-profit entities (excluding Higher or Secondary Education Establishments)
NATIONAL TECHNICAL UNIVERSITY OF ATHENS - NTUA
Greece
EU contribution
€ 600 000
Address
Heroon Polytechniou 9 Zographou Campus
15780 Athina
Activity type
Higher or Secondary Education Establishments
PAL ROBOTICS SL
Spain
EU contribution
€ 321 250
Address
Calle Pujades 77 79 4O 4A
08005 Barcelona
Activity type
Private for-profit entities (excluding Higher or Secondary Education Establishments)
IDRYMA TECHNOLOGIAS KAI EREVNAS
Greece
EU contribution
€ 535 000
Address
N Plastira Str 100
70013 Irakleio
Activity type
Research Organisations
GOETEBORGS UNIVERSITET
Sweden
EU contribution
€ 646 901,25
Address
Vasaparken
405 30 Goeteborg
Activity type
Higher or Secondary Education Establishments