Efficient Cooperation of Heterogeneous Robotic Agents: A Decentralized Framework

Michalis Logothetis; George Karras; Konstantinos Alevizos; Christos Verginis; Pedro Roque; Konstantinos Roditakis; Alexandros Makris; Sergio Garcia; Philipp Schillinger; Alessandro Di Fava; Patrizio Pelliccione; Antonis Argyros; Kostas Kyriakopoulos; Dimos V. Dimarogonas

doi:10.1109/MRA.2021.3064761

Efficient Cooperation of Heterogeneous Robotic Agents: A Decentralized Framework

Michalis Logothetis, George Karras, Konstantinos Alevizos, Christos Verginis, Pedro Roque, Konstantinos Roditakis, Alexandros Makris, Sergio Garcia, Philipp Schillinger, Alessandro Di Fava, Patrizio Pelliccione, Antonis Argyros, Kostas Kyriakopoulos, Dimos V. Dimarogonas

Electrical Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

In social and industrial facilities of the future such as hospitals, hotels, and warehouses, teams of robots will be deployed to assist humans in accomplishing everyday tasks like object handling, transportation, or pickup and delivery operations. In such a context, different robots (e.g., mobile platforms, static manipulators, or mobile manipulators) with different actuation, manipulation, and perception capabilities must be coordinated to achieve various complex tasks (e.g., cooperative parts assembly in the automotive industry or loading and unloading of palettes in warehouses) that require collaborative actions with each other and with human operators (Figure 1).

Original language	English (US)
Article number	9415417
Pages (from-to)	74-87
Number of pages	14
Journal	IEEE Robotics and Automation Magazine
Volume	28
Issue number	2
DOIs	https://doi.org/10.1109/MRA.2021.3064761
State	Published - Jun 2021

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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Logothetis, M., Karras, G., Alevizos, K., Verginis, C., Roque, P., Roditakis, K., Makris, A., Garcia, S., Schillinger, P., Di Fava, A., Pelliccione, P., Argyros, A., Kyriakopoulos, K., & Dimarogonas, D. V. (2021). Efficient Cooperation of Heterogeneous Robotic Agents: A Decentralized Framework. IEEE Robotics and Automation Magazine, 28(2), 74-87. Article 9415417. https://doi.org/10.1109/MRA.2021.3064761

Logothetis, M, Karras, G, Alevizos, K, Verginis, C, Roque, P, Roditakis, K, Makris, A, Garcia, S, Schillinger, P, Di Fava, A, Pelliccione, P, Argyros, A, Kyriakopoulos, K & Dimarogonas, DV 2021, 'Efficient Cooperation of Heterogeneous Robotic Agents: A Decentralized Framework', IEEE Robotics and Automation Magazine, vol. 28, no. 2, 9415417, pp. 74-87. https://doi.org/10.1109/MRA.2021.3064761

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abstract = "In social and industrial facilities of the future such as hospitals, hotels, and warehouses, teams of robots will be deployed to assist humans in accomplishing everyday tasks like object handling, transportation, or pickup and delivery operations. In such a context, different robots (e.g., mobile platforms, static manipulators, or mobile manipulators) with different actuation, manipulation, and perception capabilities must be coordinated to achieve various complex tasks (e.g., cooperative parts assembly in the automotive industry or loading and unloading of palettes in warehouses) that require collaborative actions with each other and with human operators (Figure 1).",

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note = "Funding Information: This work was supported by the European Community through the project Co4Robots (H2020-731869). The authors would like to thank the rest of the Co4Robots Consortium for all of their efforts during the project. Publisher Copyright: {\textcopyright} 1994-2011 IEEE.",

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AU - Roque, Pedro

AU - Roditakis, Konstantinos

AU - Makris, Alexandros

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AU - Argyros, Antonis

AU - Kyriakopoulos, Kostas

AU - Dimarogonas, Dimos V.

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Efficient Cooperation of Heterogeneous Robotic Agents: A Decentralized Framework

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