Posted by @Vortex-TH:
Our mobile robots have the capability to couple together and move in a geometrically locked state in unison, so that they essentially act as one unit in order to transport large components. This means that they merge into one virtual robot that receives control commands, but each one can also act independently when not in formation.
The synchronization is done by the controller of the fleet manager, but I think the merging into a formation and then splitting again into individual robots is something that could be supported by RMF.
I am not exactly sure how though. Or do you think it’s sufficient if we dynamically remove the individual robots from RMF and add the formation as a new one?
The problem I see with this is that we cannot directly issue transport tasks to RMF that require formations, in which case RMF would have to automatically trigger the building of a formation (or the dissolution if one of the individual robots is required).
Edited by @Vortex-TH at 2024-02-12T19:02:13Z