Virtual-device framework for autonomous decentralized multi-robot systems

Autonomous decentralized multi-robot systems require a large number of robots to interact with each other in real-time to cooperatively perform some tasks. This paper systematically investigates the major issues that need to be addressed in methods of building multi-robot based virtual devices. A hierarchical structure is presented to enable the user to tele-control the system when some contingency occurs. Hence, the virtual device interface makes a user and multiple robots to cooperate seamlessly on various tasks that are difficult for a fully autonomous system or a fully tele-controlled system to perform. Specially, we present the virtual structure for a rigid-body transportation system that employs a large number of robots to lift a rigid body and transport it to a user specified location. Path and motion planners are designed to allow the system to move smoothly along an optimal path.