Abstract
Multi-robot systems possess the potential of becoming the next generation of robots in the mining industry due to their robustness and scalability. However, they present challenges for the system to efficiently allocate tasks to each robot and allow them to navigate toward their targets safely. This paper introduces a hybrid approach method for a multi-robot system, alongside with a case study in drilling and blasting automation. A Centralized Control Unit delegates tasks and information among the robots in the system, each equipped with a decentralized motion planner that supports cooperative inter- robot collision avoidance. The proposed system inherits the advantage of a centralized multi-robot system in providing a time-wise optimal solution; while also possessing the computational benefit and scalability of a decentralized system. Simulations were conducted to validate the proposed method and discuss insights into the efficacy and performance of the proposed method.
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