Multi-Agent Systems

Multi-Robot Cooperative Manipulation and Transportation

The proposed research aims to address the challenges of cooperative manipulation and transportation through a novel multistage approach. The high-level planning stage computes a feasible path for the object from start to goal while avoiding obstacles. The low-level Model Predictive Controller (MPC) computes the control commands to the individual robots to successfully manipulate and transport the object along the planned path.

Motion Planning for Multi-Agent Systems

Path planning is an essential task in robotics, and it becomes more complex when multiple robots are involved. Decentralized motion planning for multi-agent systems can be achieved by enabling communication between individual agents.