Multi-agent missions planning for mobile manipulators

A mobile manipulator is composed of heterogeneous resources (mobile base, manipulator, etc.). Consequently, each resource can carry out a different set of operations. In the case where each resource is controlled by an agent (so a multi-agent control architecture), a multi-agent heterogeneous planning is required to generate the operations plan. When the operator of the robot introduces a mission, the various agents of the architecture elaborate, jointly, for each agent controlling a resource, a different operations plan. Operations plans are presented for different multi-agent missions implemented on RobuTER/ULM.