Cooperative SLAM-Based Object Transportation by Two Humanoid Robots in a Cluttered Environment

In this work, we tackle the problem of making two humanoid robots navigate in a cluttered environment while transporting a very large object that simply can not be moved by a single robot. We present a complete navigation scheme, from the incremental construction of a map of the environment and the computation of collision-free trajectories to the control to execute those trajectories. We present experiments conducted on real Nao robots, equipped with RGB-D sensors mounted on their heads, moving an object around obstacles. Our experiments show that a significantly large object can be transported without changing the robot's main hardware, and therefore enacting the capacity of humanoid robots in real-life situations.