Planning and coordination of heterogeneous multi-robot system in the task of building a wall

Za heterogeni sustav koji se sastoji od jednog mobilnog robota i tri bespilotne letjelice projektirano je rješenje za planiranje i koordinaciju misije izgradnje zida predefinirane strukture. Zid se sastoji od cigli različitih veličina i oblika od kojih je neke potrebno prenijeti s više robota istovremeno. Problem izgradnje zida strukturiran je TÆMS jezikom, a planiranje i koordinacija heterogenog sustava temelji se na generičkom pristupu po uzoru na GPGP model. Zadaci se raspoređuju pomoću genetskog algoritma koji nastoji optimizirati ukupnu kvalitetu, trajanje i trošak misije. Razvijeno rješenje validirano je u realističnom simulacijskom okruženju Gazebo.A solution for planning and coordinating the mission of constructing a wall with predefined structure is designed for a heterogeneous system consisting of one mobile robot and three unmanned aerial vehicles. The wall consists of bricks of various weights and sizes, some of which need to be transported with multiple robots at the same time. Wall construction problem is structured using TÆMS language and planning and coordination of the heterogeneous system is implemented with a generic approach based on GPGP model. Tasks are scheduled using a genetic algorithm that seeks to optimize the overall quality, duration and cost of the mission. The developed solution is validated in the realistic Gazebo simulation environment