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Traffic Management Strategies for Multi-Robotic Rigid Payload Transport Systems: Extended Abstract

In this work, we address traffic management of multiple payload transport systems (PTS) comprising of non-holonomic robots. Each PTS is a loosely coupled rigid robot formation carrying a payload. We ensure each PTS traverses its desired trajectory while avoiding collisions with other PTS and static obstacles in various kinds of complex environments. Each PTS has one leader and multiple followers and the followers maintain a desired distance and angle w.r.t the leader using a decentralized leader-follower control architecture. We showcase through simulations that our strategies help manage traffic for a large number of PTS moving around.