This is an overview of the milestones this project has achieved and the use cases:

• Use case 1: Achieving complex collaborative mission via decentralized control and coordination of interacting robots.

• Use case 2: Multi-robot coordination for loading and unloading packages.

• Use case 3: Multi-robot coordination for dynamic production assistance.

Scenario

• The robot navigates visiting three regions of interest according to the plan

• When a human/object are deteceted within a region of interest:

  • The human and the robot grasp the object

  • The object is transported collaboratively

• When the “stop transfer” human posture is detected the object is released

Scenario

• Mobile Manipulator: Initiates and leads the grasping procedure, i.e., once successful grasping of the object has been established, it guides the object towards the mobile robot.

• Static Manipulator: It is responsible for accommodating the majority of the object's load and, operating in compliance mode, follows the trajectory of the object enforced by the the mobile manipulator.

• Mobile Robot: It detects the other two robots (and the object) that are collaboratively manipulating the grasped object and tries to relocate in order to accommodate the unloading of the object on top of itself.

Scenario The milestone demonstrates on-demand transportation tasks for a factory-inspired assembly station, including multiple mobile robots to perform the required transportation tasks.

• The mobile robots periodically check all assembly stations for finished products

• Finished products are delivered to the next production station.

• The assembly station is monitored for supply requests.

  • If required, the mobile robots provide the required parts.