DeFORMS

The project DeFORMS proposes developing solutions based on robotics. Multi-robot systems extend the capabilities and efficiency of robots, allowing tasks to be carried out in parallel, and improving robustness in the event of failures. These multi-robot systems require the development of specific methods of information exchange, fusion of sensor data (vision, distance, GPS, etc.) and cooperation to perform coordinated movements. In this project we will study perception, grasping, cooperative manipulation and cooperative transport strategies that allow automating the manipulation and manufacturing of deformable objects with a team of robots. The objective is to design strategies that allow the team to properly observe the object, its deformation, plan grasping points, plan deforming motions, and perform cooperative motions to reach a desired deformed shape and desired location. The perception will be carried out using vision sensors. The proposed strategies will present increased resilience and robustness thanks to the redundancy offered by the multi-robot presence. In order to perform operations in a more efficient way, providing increased performance we will design event-based strategies, also combined with event-based vision sensors. Project DeFORMS will place persons in the center of the process. The research carried out and the developed solutions are oriented towards improving the working conditions of people, making them safer and more comfortable. We will develop novel mechanisms to allow the interaction between robotic systems and humans, considering different levels of autonomy. These objectives are ambitious and involve problems associated with varied research topics within robotics.