A decoupled solution to heterogeneous multi-formation planning and coordination for object transportation

Multi-robot formations have numerous applications, such as cooperative object transportation in intelligent warehouses. In this context, robots are tasked with delivering objects in formation while avoiding intra- and inter-formation collisions. This necessitates the development of solutions for multi-robot task allocation, formation generation, rigid formation route planning, and formation coordination. In this paper, we present a cooperative formation object transportation system for heterogeneous multi-robot systems which captures robot dynamics and avoids inter-formation collisions. Accounting for heterogeneous formations expands the applicability of the proposed robotic transport system. For formation generation, we propose an approach based on conflict-based search, which integrates high-level path planning with low-level trajectory optimisation. For heterogeneous formation planning, we present a two-stage iterative trajectory optimisation framework which adheres to the kinematic constraints of our heterogeneous multi-robot system while retaining formation rigidity. For multi-formation coordination, we use a loosely-coupled algorithm which can guarantee collision-free and deadlock-free formation navigation under minimal assumptions. We demonstrate the efficacy of our approach in simulation.