Coordination of several robots based on temporal synchronization

© 2016. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/This paper proposes an approach to deal with the problem of coordinating multi-robot systems, in which each robot executes individually planned tasks in a shared workspace. The approach is a decoupled method that can coordinate the participating robots in on-line mode. The coordination is achieved through the adjustment of the time evolution of each robot along its original planned geometric path according to the movements of the other robots to assure a collision-free execution of their respective tasks. To assess the proposed approach different tests were performed in graphical simulations and real experiments.Postprint (published version

Planning manipulation movements of a dual-arm system considering obstacle removing

The paper deals with the problem of planning movements of two hand-arm robotic systems, considering the possibility of using the robot hands to remove potential obstacles in order to obtain a free access to grasp a desired object. The approach is based on a variation of a Probabilistic Road Map that does not rule out the samples implying collisions with removable objects but instead classifies them according to the collided obstacle(s), and allows the search of free paths with the indication of which objects must be removed from the work-space to make the path actually valid; we call it Probabilistic Road Map with Obstacles (PRMwO). The proposed system includes a task assignment system that distributes the task among the robots, using for that purpose a precedence graph built from the results of the PRMwO. The approach has been implemented for a real dual-arm robotic system, and some simulated and real running examples are presented in the paper. (C) 2014 Elsevier B.V. All rights reserved.Postprint (published version

Esquema de integración para experimentación real con sistemas robóticos bi-brazo

En este art culo se presenta un esquema para la integraci on de un sistema rob otico bi-brazo, para transformar resultados obtenidos de simulaciones en ejecuciones en un entornos real. Este esquema utiliza una capa de comunicaci on basada en \The Robot Operating System (ROS)Postprint (published version

An on-line coordination algorithm for multi-robot systems

This paper proposes a solution to the problem of coordinating multi-robot systems, which execute individually planned tasks in a shared workspace. The presented approach is a decoupled method that can coordinate the participants robots in on-line mode. The coordination is achieved through the adjustment of the time evolution of each robot along its original planned path according to the movements of the other robots to assure a collision free execution of their tasks. To assess the proposed approach a two robot system was used, and different tests were performed in graphical simulations as well as in real executions. Some examples are presented in the paper

An on-line coordination algorithm for multi-robot systems

This paper proposes a solution to the problem of coordinating multi-robot systems, which execute individually planned tasks in a shared workspace. The presented approach is a decoupled method that can coordinate the participants robots in on-line mode. The coordination is achieved through the adjustment of the time evolution of each robot along its original planned path according to the movements of the other robots to assure a collision free execution of their tasks. To assess the proposed approach a two robot system was used, and different tests were performed in graphical simulations as well as in real executions. Some examples are presented in the paper