Robot Formation Performing a Collaborative Load Transport and Delivery Task by Using Lifting Electromagnets

Autores
Oliveira Barcelos, Celso; Fagundes Júnior, Leonardo Alves; Dourado Villa, Daniel Khéde; Sarcinelli Filho, Mário; Silvatti, Amanda Piaia; Gandolfo, Daniel; Brandão, Alexandre Santos
Año de publicación
2023
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
Featured Application: Supply delivery tasks are commonly present in hostile regions of natural disasters, in military operations, and in agricultural and urban environments. In this context, the results of this work envision the application of cargo transportation performed by a formation of robots. This paper presents a practical validation of a heterogeneous formation of mobile robots in performing a load lifting, transportation, and delivery task. Assuming that an unmanned ground vehicle (UGV) is unable to perform a mission by itself due to the presence of an obstacle in the navigation route, an unmanned aerial vehicle (UAV) is then assigned to lift the cargo over this UGV, transport the obstacle, and deliver over another UGV. The UAV uses an electromagnetic actuator supported by a cable to pick up the load, the mass of which is 32% of that of the UAV. Experimental results demonstrate that the developed system is capable of performing cargo transport missions and can be scalable for applications such as package delivery in urban or remote areas and supply delivery in conflict or disaster zones.
Fil: Oliveira Barcelos, Celso. Universidade Federal de Viçosa; Brasil
Fil: Fagundes Júnior, Leonardo Alves. Universidade Federal de Viçosa; Brasil
Fil: Dourado Villa, Daniel Khéde. Universidade Federal do Espírito Santo; Brasil
Fil: Sarcinelli Filho, Mário. Universidade Federal do Espírito Santo; Brasil
Fil: Silvatti, Amanda Piaia. Universidade Federal de Viçosa; Brasil
Fil: Gandolfo, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Brandão, Alexandre Santos. Universidade Federal de Viçosa; Brasil
Materia
AERIAL–GROUND COOPERATION
LOAD TRANSPORTATION
MULTIROBOT SYSTEMS
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/219026
Acceder
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network_name_str CONICET Digital (CONICET)
spelling Robot Formation Performing a Collaborative Load Transport and Delivery Task by Using Lifting ElectromagnetsOliveira Barcelos, CelsoFagundes Júnior, Leonardo AlvesDourado Villa, Daniel KhédeSarcinelli Filho, MárioSilvatti, Amanda PiaiaGandolfo, DanielBrandão, Alexandre SantosAERIAL–GROUND COOPERATIONLOAD TRANSPORTATIONMULTIROBOT SYSTEMShttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2Featured Application: Supply delivery tasks are commonly present in hostile regions of natural disasters, in military operations, and in agricultural and urban environments. In this context, the results of this work envision the application of cargo transportation performed by a formation of robots. This paper presents a practical validation of a heterogeneous formation of mobile robots in performing a load lifting, transportation, and delivery task. Assuming that an unmanned ground vehicle (UGV) is unable to perform a mission by itself due to the presence of an obstacle in the navigation route, an unmanned aerial vehicle (UAV) is then assigned to lift the cargo over this UGV, transport the obstacle, and deliver over another UGV. The UAV uses an electromagnetic actuator supported by a cable to pick up the load, the mass of which is 32% of that of the UAV. Experimental results demonstrate that the developed system is capable of performing cargo transport missions and can be scalable for applications such as package delivery in urban or remote areas and supply delivery in conflict or disaster zones.Fil: Oliveira Barcelos, Celso. Universidade Federal de Viçosa; BrasilFil: Fagundes Júnior, Leonardo Alves. Universidade Federal de Viçosa; BrasilFil: Dourado Villa, Daniel Khéde. Universidade Federal do Espírito Santo; BrasilFil: Sarcinelli Filho, Mário. Universidade Federal do Espírito Santo; BrasilFil: Silvatti, Amanda Piaia. Universidade Federal de Viçosa; BrasilFil: Gandolfo, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Brandão, Alexandre Santos. Universidade Federal de Viçosa; BrasilMultidisciplinary Digital Publishing Institute2023-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/219026Oliveira Barcelos, Celso; Fagundes Júnior, Leonardo Alves; Dourado Villa, Daniel Khéde; Sarcinelli Filho, Mário; Silvatti, Amanda Piaia; et al.; Robot Formation Performing a Collaborative Load Transport and Delivery Task by Using Lifting Electromagnets; Multidisciplinary Digital Publishing Institute; Applied Sciences (Switzerland); 13; 2; 1-2023; 1-162076-3417CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://www.mdpi.com/2076-3417/13/2/822info:eu-repo/semantics/altIdentifier/doi/10.3390/app13020822info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-15T15:39:53Zoai:ri.conicet.gov.ar:11336/219026instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-10-15 15:39:54.132CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Robot Formation Performing a Collaborative Load Transport and Delivery Task by Using Lifting Electromagnets
title Robot Formation Performing a Collaborative Load Transport and Delivery Task by Using Lifting Electromagnets
spellingShingle Robot Formation Performing a Collaborative Load Transport and Delivery Task by Using Lifting Electromagnets
Oliveira Barcelos, Celso
AERIAL–GROUND COOPERATION
LOAD TRANSPORTATION
MULTIROBOT SYSTEMS
title_short Robot Formation Performing a Collaborative Load Transport and Delivery Task by Using Lifting Electromagnets
title_full Robot Formation Performing a Collaborative Load Transport and Delivery Task by Using Lifting Electromagnets
title_fullStr Robot Formation Performing a Collaborative Load Transport and Delivery Task by Using Lifting Electromagnets
title_full_unstemmed Robot Formation Performing a Collaborative Load Transport and Delivery Task by Using Lifting Electromagnets
title_sort Robot Formation Performing a Collaborative Load Transport and Delivery Task by Using Lifting Electromagnets
dc.creator.none.fl_str_mv Oliveira Barcelos, Celso
Fagundes Júnior, Leonardo Alves
Dourado Villa, Daniel Khéde
Sarcinelli Filho, Mário
Silvatti, Amanda Piaia
Gandolfo, Daniel
Brandão, Alexandre Santos
author Oliveira Barcelos, Celso
author_facet Oliveira Barcelos, Celso
Fagundes Júnior, Leonardo Alves
Dourado Villa, Daniel Khéde
Sarcinelli Filho, Mário
Silvatti, Amanda Piaia
Gandolfo, Daniel
Brandão, Alexandre Santos
author_role author
author2 Fagundes Júnior, Leonardo Alves
Dourado Villa, Daniel Khéde
Sarcinelli Filho, Mário
Silvatti, Amanda Piaia
Gandolfo, Daniel
Brandão, Alexandre Santos
author2_role author
author
author
author
author
author
dc.subject.none.fl_str_mv AERIAL–GROUND COOPERATION
LOAD TRANSPORTATION
MULTIROBOT SYSTEMS
topic AERIAL–GROUND COOPERATION
LOAD TRANSPORTATION
MULTIROBOT SYSTEMS
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv Featured Application: Supply delivery tasks are commonly present in hostile regions of natural disasters, in military operations, and in agricultural and urban environments. In this context, the results of this work envision the application of cargo transportation performed by a formation of robots. This paper presents a practical validation of a heterogeneous formation of mobile robots in performing a load lifting, transportation, and delivery task. Assuming that an unmanned ground vehicle (UGV) is unable to perform a mission by itself due to the presence of an obstacle in the navigation route, an unmanned aerial vehicle (UAV) is then assigned to lift the cargo over this UGV, transport the obstacle, and deliver over another UGV. The UAV uses an electromagnetic actuator supported by a cable to pick up the load, the mass of which is 32% of that of the UAV. Experimental results demonstrate that the developed system is capable of performing cargo transport missions and can be scalable for applications such as package delivery in urban or remote areas and supply delivery in conflict or disaster zones.
Fil: Oliveira Barcelos, Celso. Universidade Federal de Viçosa; Brasil
Fil: Fagundes Júnior, Leonardo Alves. Universidade Federal de Viçosa; Brasil
Fil: Dourado Villa, Daniel Khéde. Universidade Federal do Espírito Santo; Brasil
Fil: Sarcinelli Filho, Mário. Universidade Federal do Espírito Santo; Brasil
Fil: Silvatti, Amanda Piaia. Universidade Federal de Viçosa; Brasil
Fil: Gandolfo, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Brandão, Alexandre Santos. Universidade Federal de Viçosa; Brasil
description Featured Application: Supply delivery tasks are commonly present in hostile regions of natural disasters, in military operations, and in agricultural and urban environments. In this context, the results of this work envision the application of cargo transportation performed by a formation of robots. This paper presents a practical validation of a heterogeneous formation of mobile robots in performing a load lifting, transportation, and delivery task. Assuming that an unmanned ground vehicle (UGV) is unable to perform a mission by itself due to the presence of an obstacle in the navigation route, an unmanned aerial vehicle (UAV) is then assigned to lift the cargo over this UGV, transport the obstacle, and deliver over another UGV. The UAV uses an electromagnetic actuator supported by a cable to pick up the load, the mass of which is 32% of that of the UAV. Experimental results demonstrate that the developed system is capable of performing cargo transport missions and can be scalable for applications such as package delivery in urban or remote areas and supply delivery in conflict or disaster zones.
publishDate 2023
dc.date.none.fl_str_mv 2023-01
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/219026
Oliveira Barcelos, Celso; Fagundes Júnior, Leonardo Alves; Dourado Villa, Daniel Khéde; Sarcinelli Filho, Mário; Silvatti, Amanda Piaia; et al.; Robot Formation Performing a Collaborative Load Transport and Delivery Task by Using Lifting Electromagnets; Multidisciplinary Digital Publishing Institute; Applied Sciences (Switzerland); 13; 2; 1-2023; 1-16
2076-3417
CONICET Digital
CONICET
url http://hdl.handle.net/11336/219026
identifier_str_mv Oliveira Barcelos, Celso; Fagundes Júnior, Leonardo Alves; Dourado Villa, Daniel Khéde; Sarcinelli Filho, Mário; Silvatti, Amanda Piaia; et al.; Robot Formation Performing a Collaborative Load Transport and Delivery Task by Using Lifting Electromagnets; Multidisciplinary Digital Publishing Institute; Applied Sciences (Switzerland); 13; 2; 1-2023; 1-16
2076-3417
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://www.mdpi.com/2076-3417/13/2/822
info:eu-repo/semantics/altIdentifier/doi/10.3390/app13020822
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Multidisciplinary Digital Publishing Institute
publisher.none.fl_str_mv Multidisciplinary Digital Publishing Institute
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1846083514150158336
score 13.22299

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