Pulkit Verma

International Institute of Information Technology, Hyderabad | IIIT · Centre for Data Engineering (CDE)

In this work, we consider a multi-wheeled payload transport system. Each of the wheels can be selectively actuated. When they are not actuated, wheels are free moving and do not consume battery power. The payload transport system is modeled as an actuated multi-agent system, with each wheel-motor pair as an agent. Kinematic and dynamic models are d...

In this work, we address traffic management of multiple payload transport systems comprising of non-holonomic robots. We consider loosely coupled rigid robot formations carrying a payload from one place to another. Each payload transport system (PTS) moves in various kinds of environments with obstacles. We ensure each PTS completes its given task...

In this work, we present an algorithm for robot replacement to increase the operational time of a multi-robot payload transport system. Our system comprises a group of non-holonomic wheeled mobile robots traversing on a known trajectory. We design a multi-robot system with loosely coupled robots that ensures the system lasts much longer than the ba...

In this work, we present an algorithm for robot replacement to increase the operational time of a multi-robot payload transport system. Our system comprises a group of nonholonomic wheeled mobile robots traversing on a known trajectory. We design a multi-robot system with loosely coupled robots that ensures the system lasts much longer than the bat...