Скачать или смотреть I-Mule: A multi-robot system for airport baggage handling

The video shows a simulated scenario in which a multi-robot system handles the autonomous transfer of baggage from check-in counters to bay areas within an airport, replacing in full the use of fixed conveyor belts. The presented case study includes two counters, two bays, five wheeled mobile robots, multiple lanes, and a battery recharge area. The wheeled robots navigate along the lanes with on-board sensors for localization and obstacle avoidance, using path tracking control laws and reactive feedback. Close to the check-in and bay areas, where accurate parking maneuvers are needed, robot motion is controlled by visual servoing with an overhead camera system. Activities are scheduled and monitored by a Petri-net supervisor of the entire hybrid discrete-event/continuous-time system. The simulation incorporates the control laws, as well as sensor noises and uncertainties. This video is one deliverable of the national research project I-Mule, funded by the Italian Ministry of Economic Development (MiSE) within the Industry 2015 initiative.