Scaling of Cooperative Mobile Multi-Robot Systems for Handling and Assembly of Large-Scale Components

Autor*in: Tobias Recker

ISBN: 978-3-69030-108-4

Dissertation, Leibniz Universität Hannover, 2025

Herausgeber*in der Reihe: Annika Raatz

Band-Nr.: match 01/2025

Umfang: 228 Seiten, 91 Abbildungen

Schlagworte: Mobile Robotics, Cooperative Multi-Robot Systems, Scalable Production, Flexible Manufacturing Systems

Kurzfassung: This dissertation presents a scalable framework for mobile multi-robot systems enabling cooperative handling and assembly of large objects in industrial settings. Traditional single-robot solutions lack the flexibility and scalability needed in modern manufacturing.

The proposed control concept enables flexible, coordinated collaboration among multiple robots by combining a hardware-independent architecture with optimized path planning. Each robot can operate autonomously or as part of a team, increasing overall efficiency. Experiments demonstrate reliable scalability with up to eight robots, even when handling objects of varying size, shape, and stiffness.

The work contributes to scalable, adaptable robotic systems for high-demand industries such as aerospace, automotive, machinery and plant engineering.