Multi-robot Cooperative Transport Simulation System

Abstract

Multi-robot systems have gained significant attention in recent years due to their potential for collaborative handling and operations. Designing an effective simulation system for multi-robot environments is crucial for enabling research and development in this field, while minimizing risks and costs associated with real robot testing. This paper presents a Multi-Robot Collaborative Transport (MRCT) simulation system that integrates the Robot Operating System (ROSI) with the Gazebo software environment. The system employs the FastDDS communication framework for task allocation and control, enabling efficient distribution of tasks among robots. A dual-robot model is developed for collaborative handling, with two robots equipped with manipulators working together to accomplish transport tasks. The performance of the simulation system is evaluated by comparing the trajectory of transported objects with that of the dual-robot system. The results demonstrate the exceptional performance and accuracy of the MRCT system.