Multi-robot cooperation in the MARTHA project
Multi-robot cooperation in the MARTHA project
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DOI：
10.1109/100.667325
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发表时间：
1998-03-01
影响因子：
5.7
通讯作者：
Robert, F
中科院分区：
文献类型：
--
作者：
Alami, R;Fleury, S;Robert, F
玛莎项目的目标是控制和管理一支自主移动机器人车队，在港口、机场和编组场执行转运任务。玛莎项目最具挑战性和最关键的问题之一是多机器人合作。在Martha项目的框架内，已经开发、实施和验证了控制一大批自主移动机器人的一般概念。这是自主移动机器人领域首次在如此庞大的机器人舰队中增加多机器人协作能力。
The MARTHA project objectives are the control and the management of a fleet of autonomous mobile robots for transshipment tasks in harbors, airports and marshaling yards. One of the most challenging and key problems of the MARTHA project is multi-robot cooperation. A general concept for the control of a large fleet of autonomous mobile robots has been developed, implemented and validated in the framework of the MARTHA project. This is the first study in the autonomous mobile robot field to add multi-robot cooperation capabilities to such a large fleet of robots.