HYDRA - High Yield Dense Robotic Arms

The integration of multiple robotic arms in industrial applications has traditionally been limited by the challenges of collision avoidance and the difficulty of coordinating the movements of different types of robots from different manufacturers. We propose HYDRA, a system based for efficient robot control utilizing a 5G Non Public Network to maintain flexibility while enabling connectivity. Our approach is based on enveloping spheres for collision-free multi-robot motion planning. This approach involves a central controller, providing all necessary state information for each robots decentralized controller. Those decentralized controllers controlling the robots by providing details to the robots in an sufficiently high frequency, by interpolating between the states received from the centralized one. In this work, we explore the use of enveloping spheres in the context of robot-robot and human-robot collaboration, specifically in situations where signal latency is a critical factor in system response time and safety distance. We also discuss the potential applications of this approach in various industries, such as the integration of robots from different manufacturers and the control of a wide range of kinematics, including industrial robots, automated guided vehicles, drones, doors, and cranes. Utilizing a 5G Non Public Network further simplifies installation and contributes to the adaptability of future industrial systems. Overall, HYDRA has the potential to revolutionize the field of multi-robot motion planning and enable safer, denser robot workspaces and more efficient human-robot collaboration.