Multi-robot cooperation in the MARTHA project
Rachid Alami, Sara Fleury, Matthieu Herrb, Félix Ingrand, Frédéric Robert · IEEE Robotics & Automation Magazine · 1998
The MARTHA project objectives are the control and the management of a fleet of autonomous mobile robots for transshipment tasks in harbors, airports and marshalling yards. One of the most challenging and key problems of the MARTHA project is multi-robot cooperation. A general concept for the control of a large fleet of autonomous mobile robots has been developed, implemented and validated in the framework of the MARTHA project. This is the first study in the autonomous mobile robot field to add multi-robot cooperation capabilities to such a large fleet of robots.