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Prioritizing Tasks Within a Robotic Transportation System for a Smart Hospital Environment

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Interactive Collaborative Robotics (ICR 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 12998))

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Abstract

This paper describes a design and an implementation of a small-scale robotic transportation system, which operates in a smart hospital environment. Within a proposed framework unmanned ground vehicles (UGV) perform transportation tasks between multiple stations that are located in different rooms. The UGVs navigate in the environment with moving objects in accordance with basic traffic rules, which consider priorities of particular tasks of each UGV. UGVs’ behavior is defined by a state machine and transitions between these states, which allows to make the robots’ behavior more predictable and controllable. Virtual experiments were carried out in a simulation of an entire floor of a small-size hospital building using the Gazebo simulator. The experiments confirmed that using various task priorities shorten a path length of robots with high priorities and thus reduce their task execution time.

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Acknowledgements

This work was supported by the Russian Foundation for Basic Research (RFBR), project ID 19-58-70002. The fifth author acknowledges the support of the Japan Science and Technology Agency, the JST Strategic International Collaborative Research Program, Project No. 18065977. This work is part of Kazan Federal University Strategic Academic Leadership Program. Special thanks to PAL Robotics for their kind professional support with TIAGo Base robot’s Gazebo simulation related issues.

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Authors and Affiliations

  1. Laboratory of Intelligent Robotics Systems (LIRS), Intelligent Robotics Department, Institute of Information Technology and Intelligent Systems, Kazan Federal University, Kazan, Russia

    Ruslan Safin, Roman Lavrenov, Tatyana Tsoy & Evgeni Magid

  2. Information Science and Engineering Department, College of Information Science and Engineering, Ritsumeikan University, 1-1-1 Noji-higashi, Kusatsu, Shiga, 525-8577, Japan

    Mikhail Svinin

  3. Department of Electrical Engineering, Indian Institute of Technology Delhi, IIT Campus, Hauz Khas, New Delhi, Delhi, 110016, India

    Sumantra Dutta Roy

  4. Department of Mechanical Engineering, Indian Institute of Technology Delhi, IIT Campus, Hauz Khas, New Delhi, Delhi, 110016, India

    Subir Kumar Saha

Authors
  1. Ruslan Safin
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  2. Roman Lavrenov
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  3. Tatyana Tsoy
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  4. Evgeni Magid
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  5. Mikhail Svinin
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  6. Sumantra Dutta Roy
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  7. Subir Kumar Saha
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Corresponding author

Correspondence to Roman Lavrenov .

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Editors and Affiliations

  1. St. Petersburg Federal Research Center of the Russian Academy of Sciences, St. Petersburg, Russia

    Andrey Ronzhin

  2. Technical University of Munich, Munich, Germany

    Gerhard Rigoll

  3. V. A. Trapeznikov Institute of Control Sciences, Moscow, Russia

    Roman Meshcheryakov

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Safin, R. et al. (2021). Prioritizing Tasks Within a Robotic Transportation System for a Smart Hospital Environment. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2021. Lecture Notes in Computer Science(), vol 12998. Springer, Cham. https://doi.org/10.1007/978-3-030-87725-5_16

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  • DOI: https://doi.org/10.1007/978-3-030-87725-5_16

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  • Print ISBN: 978-3-030-87724-8

  • Online ISBN: 978-3-030-87725-5

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