Implementation of a Joint Transport Task by a Group of Robots

  • Valery G. Gradetsky
  • Ivan L. ErmolovEmail author
  • Maxim M. Knyazkov
  • Eugeniy A. Semenov
  • Sergey A. Sobolnikov
  • Artem N. Sukhanov
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 174)


Problem statement: in a lot applications it is emerging to perform a joint transportation task of a load by a group of robots. In order to implement target trajectory of a load it is necessary to ensure coordination of motion of robots—members of a group. Moving an object by a large number of mobile robots requires information about the geometrical center of the object. However there may occur a situation that various robots—members of a group will be in contact with different types of soil. This will affect resulting transportation trajectory of a load and must be considered during motion planning and control. Purpose of research: moving through cross-country a mobile robot meets different types of the ground. That changes different ground-wheel’s interaction parameters such as width and height of a wheel’s tire, pressure in the contact area, the resistance coefficient, the track depth and magnitude of wheel’s bending. In order to move a load according to desired trajectory corresponding changes should be done to motion control signal to SEMS-based group of robots considering with which type of soil robot—member of a group is in contact each specific moment. Results: Paper presents the calculated nomograms for determining the influence of soil and external forces on the robot’s parameters and the passability depending on the soil. The simulation of the given parameters is performed. Simulation results allow creating control algorithms for mobile robots to provide joint transportation task. Also in order to solve problems arising during the movement of robots in the group there was proposed a new type of propulsion type wheel with a variable geometry. Each wheel is capable of changing its configuration at the critical changes of the wheel’s attachment with the ground. Practical significance: the robot control technique and the control for a group of robots with a wheels moving on the terrain with different traction properties of the soil are discussed. These methods use correction by applying feedback force (at rigid hitch) or feedback on the deviation of the point of attachment of the load from the nominal (at non-rigid hitch) within SEMS-based system. In this paper we present some simulation results that can be used to control a group of robots, considering target trajectory, type of load, load distribution among agents, type of terrain and specifics of soil.


Group mobile robotics Transportation task Wheel-ground interaction Cross-country moving Types of the ground Forces in soil contact area SEMS-systems modelling 



This research was supported by a grant №16-29-04199 from Russian Fund of Fundamental Research.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Valery G. Gradetsky
    • 1
  • Ivan L. Ermolov
    • 1
    Email author
  • Maxim M. Knyazkov
    • 1
  • Eugeniy A. Semenov
    • 1
  • Sergey A. Sobolnikov
    • 2
  • Artem N. Sukhanov
    • 1
  1. 1.Ishlinsky Institute for Problems in Mechanics, Russian Academy of SciencesMoscowRussia
  2. 2.MSTU STANKINMoscowRussia

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