A Comparative Analysis of Different Semi-Rigid Formation Geometries Regarding Multi-Robot Cooperative Object Transport for Large-Scale Objects

Abstract

This paper aims to analyze how different formation geometries and trajectory parameters impact cooperative transport within a multi-robot system. Cooperative object transport is a well-explored domain in mobile robotics, with the utilization of multiple robots showing promise in enhancing system performance. However, existing research predominantly conducted in laboratory settings has often overlooked certain critical factors in the evaluation and development of transport strategies. This study addresses this gap by investigating the influence of rarely considered factors, such as formation geometry and trajectory curvature, on the transport process of large-scale objects at an industrial scale. Through tests conducted on two large-format components, significant distinctions among different formations emerge, underscoring the importance of formation geometry as a criterion for trajectory and formation planning.