Earth-Shaping with Heterogeneous Robotic Teams: From Sim to Real

Federico Oliva, Tom Shaked, Karen Lee Bar-Sinai, Omer Shalev, Oren Elmakis, Ari Meles-Braverman, Amir Degani

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This work presents an overview of autonomous earth-shaping and aggregate-forming tasks, which we address with a heterogeneous team of Unmanned Ground Vehicles equipped with shovels. Firstly, we introduce Sheperd, a Hardware In the Loop development tool integrated with ROS and physical engines like Gazebo and FlexHopper. We further address the problem of computational cost in these kinds of simulators, providing preliminary results to replace them with a probabilistic model for aggregate motion. We proceed by addressing the following major challenges: localizing the team of robots and mapping the aggregates, as well as efficient motion planning strategies. We address UGV localization and material mapping, utilizing vision-based UAV-UGV collaboration and optimization techniques for robustness. Then, we discuss motion planning, providing solutions to shape on-site material exclusively using pushing actions rather than more standard pick-and-place solutions.

Original languageEnglish
Title of host publicationWalking Robots into Real World - Proceedings of the CLAWAR 2024 Conference
EditorsKarsten Berns, Mohammad Osman Tokhi, Arne Roennau, Manuel F. Silva, Rüdiger Dillmann
PublisherSpringer Science and Business Media Deutschland GmbH
Pages128-140
Number of pages13
ISBN (Print)9783031707216
DOIs
StatePublished - 2024
Externally publishedYes
Event27th International Conference series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2024 - Kaiserslautern, Germany
Duration: 4 Sep 20246 Sep 2024

Publication series

NameLecture Notes in Networks and Systems
Volume1114 LNNS
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389

Conference

Conference27th International Conference series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2024
Country/TerritoryGermany
CityKaiserslautern
Period4/09/246/09/24

Keywords

  • Earth-Shaping
  • Localization
  • Multi-Agent
  • Planning

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