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Brenner C, Enke C, Schumacher P, Schröppel M, Schulz R, Furmans K (2023). Decentralized Collaborative Transport in Heterogeneous Robot Fleets Through Four Levels of Communication based on Omni-Curve-Parameters. Logistics Journal : Proceedings, Vol. 2023. (urn:nbn:de:0009-14-58161)

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%0 Journal Article
%T Decentralized Collaborative Transport in Heterogeneous Robot Fleets Through Four Levels of Communication based on Omni-Curve-Parameters
%A Brenner, Carolin
%A Enke, Constantin
%A Schumacher, Pietro
%A Schröppel, Markus
%A Schulz, Robert
%A Furmans, Kai
%J Logistics Journal : Proceedings
%D 2023
%V 2023
%N 1
%@ 2192-9084
%F brenner2023
%X Changeable production needs an internal logistics system that can cope with changing loads. Cooperative transport offers the possibility of transporting exceedingly large loads with a group of mobile robots. This paper addresses the research question of unifying cooperation considering each robots configuration using Omni-Curve-Parameters (OCP). OCP are designed to control robots with arbitrary wheel configurations and can be used for the control of cooperative transportation groups, by considering the group like a vehicle with many wheels. The approach is successfully validated on two omnidirectional robots. The emerging challenges concerning the communication between the participants lead to a multi-leveled communication model for a heterogeneous fleet, since exchanged data differs in its volume and its availability and time requirements. Consisting of the global, local, cooperative and safety levels, this model is a first draft for standardized decentral communication.
%L 620
%K Kooperativer Transport
%K Kommunikations Modell
%K Mobile Roboter
%K cooperative transport
%K communication model
%K mobile robot
%R 10.2195/lj_proc_brenner_en_202310_01
%U http://nbn-resolving.de/urn:nbn:de:0009-14-58161
%U http://dx.doi.org/10.2195/lj_proc_brenner_en_202310_01
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@Article{brenner2023,
  author = 	"Brenner, Carolin
		and Enke, Constantin
		and Schumacher, Pietro
		and Schr{\"o}ppel, Markus
		and Schulz, Robert
		and Furmans, Kai",
  title = 	"Decentralized Collaborative Transport in Heterogeneous Robot Fleets Through Four Levels of Communication based on Omni-Curve-Parameters",
  journal = 	"Logistics Journal : Proceedings",
  year = 	"2023",
  volume = 	"2023",
  number = 	"1",
  keywords = 	"Kooperativer Transport; Kommunikations Modell; Mobile Roboter; cooperative transport; communication model; mobile robot",
  abstract = 	"Changeable production needs an internal logistics system that can cope with changing loads. Cooperative transport offers the possibility of transporting exceedingly large loads with a group of mobile robots. This paper addresses the research question of unifying cooperation considering each robots configuration using Omni-Curve-Parameters (OCP). OCP are designed to control robots with arbitrary wheel configurations and can be used for the control of cooperative transportation groups, by considering the group like a vehicle with many wheels. The approach is successfully validated on two omnidirectional robots. The emerging challenges concerning the communication between the participants lead to a multi-leveled communication model for a heterogeneous fleet, since exchanged data differs in its volume and its availability and time requirements. Consisting of the global, local, cooperative and safety levels, this model is a first draft for standardized decentral communication.",
  issn = 	"2192-9084",
  doi = 	"10.2195/lj_proc_brenner_en_202310_01",
  url = 	"http://nbn-resolving.de/urn:nbn:de:0009-14-58161"
}
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TY  - JOUR
AU  - Brenner, Carolin
AU  - Enke, Constantin
AU  - Schumacher, Pietro
AU  - Schröppel, Markus
AU  - Schulz, Robert
AU  - Furmans, Kai
PY  - 2023
DA  - 2023//
TI  - Decentralized Collaborative Transport in Heterogeneous Robot Fleets Through Four Levels of Communication based on Omni-Curve-Parameters
JO  - Logistics Journal : Proceedings
VL  - 2023
IS  - 1
KW  - Kooperativer Transport
KW  - Kommunikations Modell
KW  - Mobile Roboter
KW  - cooperative transport
KW  - communication model
KW  - mobile robot
AB  - Changeable production needs an internal logistics system that can cope with changing loads. Cooperative transport offers the possibility of transporting exceedingly large loads with a group of mobile robots. This paper addresses the research question of unifying cooperation considering each robots configuration using Omni-Curve-Parameters (OCP). OCP are designed to control robots with arbitrary wheel configurations and can be used for the control of cooperative transportation groups, by considering the group like a vehicle with many wheels. The approach is successfully validated on two omnidirectional robots. The emerging challenges concerning the communication between the participants lead to a multi-leveled communication model for a heterogeneous fleet, since exchanged data differs in its volume and its availability and time requirements. Consisting of the global, local, cooperative and safety levels, this model is a first draft for standardized decentral communication.
SN  - 2192-9084
UR  - http://nbn-resolving.de/urn:nbn:de:0009-14-58161
DO  - 10.2195/lj_proc_brenner_en_202310_01
ID  - brenner2023
ER  -
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ISI

PT Journal
AU Brenner, C
   Enke, C
   Schumacher, P
   Schröppel, M
   Schulz, R
   Furmans, K
TI Decentralized Collaborative Transport in Heterogeneous Robot Fleets Through Four Levels of Communication based on Omni-Curve-Parameters
SO Logistics Journal : Proceedings
PY 2023
VL 2023
IS 1
DI 10.2195/lj_proc_brenner_en_202310_01
DE Kooperativer Transport; Kommunikations Modell; Mobile Roboter; cooperative transport; communication model; mobile robot
AB Changeable production needs an internal logistics system that can cope with changing loads. Cooperative transport offers the possibility of transporting exceedingly large loads with a group of mobile robots. This paper addresses the research question of unifying cooperation considering each robots configuration using Omni-Curve-Parameters (OCP). OCP are designed to control robots with arbitrary wheel configurations and can be used for the control of cooperative transportation groups, by considering the group like a vehicle with many wheels. The approach is successfully validated on two omnidirectional robots. The emerging challenges concerning the communication between the participants lead to a multi-leveled communication model for a heterogeneous fleet, since exchanged data differs in its volume and its availability and time requirements. Consisting of the global, local, cooperative and safety levels, this model is a first draft for standardized decentral communication.
ER
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Full Metadata

Bibliographic Citation Logistics Journal : referierte Veröffentlichungen, Vol. 2023, Iss. 1
Title

Decentralized Collaborative Transport in Heterogeneous Robot Fleets Through Four Levels of Communication based on Omni-Curve-Parameters (eng)

Dezentraler kollaborativer Transport in heterogenen Roboterflotten durch vier Kommunikationsebenen auf Basis der Omni-Kurven-Parameter (ger)
Author Carolin Brenner, Constantin Enke, Pietro Schumacher, Markus Schröppel, Robert Schulz, Kai Furmans
Language eng
Abstract Changeable production needs an internal logistics system that can cope with changing loads. Cooperative transport offers the possibility of transporting exceedingly large loads with a group of mobile robots. This paper addresses the research question of unifying cooperation considering each robots configuration using Omni-Curve-Parameters (OCP). OCP are designed to control robots with arbitrary wheel configurations and can be used for the control of cooperative transportation groups, by considering the group like a vehicle with many wheels. The approach is successfully validated on two omnidirectional robots. The emerging challenges concerning the communication between the participants lead to a multi-leveled communication model for a heterogeneous fleet, since exchanged data differs in its volume and its availability and time requirements. Consisting of the global, local, cooperative and safety levels, this model is a first draft for standardized decentral communication. Eine wandlungsfähige Produktion erfordert ein Logistiksystem, das mit unterschiedlichen Ladungen umgehen kann. Kooperativer Transport bietet die Möglichkeit, übergroße Lasten durch eine Gruppe von mobilen Robotern zu transportieren. Dieser Beitrag befasst sich mit der Forschungsfrage, wie die Zusammenarbeit unter Berücksichtigung der einzelnen Roboterkonfigurationen mit Hilfe von Omni-Kurven-Parametern (OKP) vereinheitlicht werden kann. OKP sind für die Steuerung von Robotern mit beliebigen Radkonfigurationen konzipiert und können für die Steuerung von kooperativen Transportgruppen verwendet werden, indem die Gruppe wie ein Fahrzeug mit vielen Rädern betrachtet wird. Der Ansatz wird erfolgreich an zwei flächenbeweglichen Robotern validiert. Die resultierenden Anforderungen an die Kommunikation zwischen den Teilnehmern führen zu einem mehrschichtigen Kommunikationsmodell für heterogene Flotten, da sich die auszutauschenden Daten in ihrem Umfang, ihrer Verfügbarkeit und ihren zeitlichen Anforderungen unterscheiden. Bestehend aus den Ebenen Global, Lokal, Kooperativ und Sicherheit ist dieses Modell ein erster Entwurf für eine standardisierte dezentrale Kommunikation.
Subject Kooperativer Transport, Kommunikations Modell, Mobile Roboter, cooperative transport, communication model, mobile robot
DDC 620
Rights cc-by
URN: urn:nbn:de:0009-14-58161
DOI https://doi.org/10.2195/lj_proc_brenner_en_202310_01