Yahnit Sirineni working under the supervision of Prof. Kamalakar Karlapalem presented a paper on Traffic Management Strategies for Multi-Robotic Rigid Payload Transport Systems at the IEEE International Symposium on Multi-robot and Multi-agent Systems (MRS ’19) in New Jersey, USA from 22 – 23 August. The authors of this paper are Yahnit Sirineni, Pulkit Verma, Prof. Kamalakar Karlapalem.
The research paper addressed traffic management of multiple payload transport systems comprising of non-holonomic robots. They considered loosely coupled rigid robot formations carrying a payload from one place to another. Each payload transport system (PTS) moves in various kinds of environments with obstacles. They ensured that each PTS completes its given task by avoiding collisions with other payload systems and obstacles as well. Each PTS has one leader and multiple followers and the followers maintain a desired distance and angle with respect to the leader using a decentralized leader-follower control architecture while moving in traffic. They showcased, through simulations the time taken by each PTS to traverse its respective trajectory with and without other PTS and obstacles. They showed that their strategies help manage the traffic for a large number of PTS moving from one place to another.
MRS is a new initiative of the IEEE RAS Technical Committee on Multi-Robot Systems. The conference brought together researchers who are in the field of multi-robot systems (MRS) and multi-agent systems (MAS), both directly and indirectly, to cross-fertilize ideas.