Multi-Robot System for Repair, inspection and cleaning operations

Inventors: Dr hadi Moradi - Dr Majid Nili Ahmadabadi - Kourosh Naderi

Abstract:

A multi-robot system consisting of robots connected to each other by ropes. This system stabilizes the robots on the dome, and the robots can stabilize the entire system on the dome by placing them on the dome and controlling the tension of the ropes properly . One robot from the multi-robot system can navigate the entire dome from top to bottom with the cooperation of other robots. Each robot is a mobile robot that is connected to two other robots. Each robot pulls the rope connected to one robot and measures the tension of the other robot's rope. The friction with the surface of the dome and the tension of the ropes make each robot stable in its place and move stably in a range around its location without slipping.