Publications / 2019 Proceedings of the 36th ISARC, Banff, Alberta, Canada

Distributed Coordination and Task Assignment of Autonomous Tandem Rollers in Road Construction Scenarios

Patrick Wolf, Thorsten Ropertz, Alexander Matheis, Karsten Berns and Peter Decker
Pages 953-960 (2019 Proceedings of the 36th ISARC, Banff, Alberta, Canada, ISBN 978-952-69524-0-6)

Automation in construction is a highly active field of research with promising prospects for more efficient construction processes. This paper presents a novel behavior-based approach for distributed coordination of autonomous tandem rollers. Hereby, a detailed road representation and concepts for tandem roller and paver interaction as well as distributed task assignment are presented. The concept has been tested in a simulated road construction environment on the virtual B10 highway, Germany and compared to real construction data.

Keywords: Off-Road Robotics; Behavior-Based Control; Multi-Robot Cooperation; Automated Road Construction