论文标题
建筑建筑的多代理协作
Multi-Agent Collaboration for Building Construction
论文作者
论文摘要
本文详细介绍了涉及的算法和在建造结构方面的车辆协作的任务计划者。这是穆罕默德·本·扎耶德国际机器人挑战2020（MBZIRC）的挑战2中定义的问题。这项工作涉及无人驾驶汽车（UAV）和无人接地车（UGV）挑战的各个方面。挑战涉及使用无人机和UGV的重复选择和放置操作，以构建两种不同形状和尺寸的结构。该算法是使用机器人操作系统（ROS）框架实现的，并在凉亭中可视化。整个开发的体系结构可以很容易地在合适的硬件中实现。
This paper details the algorithms involved and task planner for vehicle collaboration in building a structure. This is the problem defined in challenge 2 of Mohammed Bin Zayed International Robotic Challenge 2020 (MBZIRC). The work addresses various aspects of the challenge for Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicle (UGV). The challenge involves repeated pick and place operations using UAVs and UGV to build two structures of different shape and sizes. The algorithms are implemented using the Robot Operating System (ROS) framework and visualised in Gazebo. The whole developed architecture could readily be implemented in suitable hardware.
