Coordination of Cyclic Motion Processes in Free-Ranging Multiple Mobile Robot Systems
We consider a Multiple Mobile Robot System (MMRS) viewed as a group of autonomous robots sharing a common 2D motion space. Each robot performs a mission that requires it to travel a number of times along a specific, independently planned closed path. The robots operate asynchronously and are able to control their motion with path-following algorithms that allow each of them to correctly perform its mission when alone on the stage. When sharing the motion space, the robots must refine their motion strategies in order to avoid collisions, through modification of their paths, velocity profiles or both. Following our earlier contributions, we represent MMRS as a class of RAS (Resource Allocation System) that abstracts in a discrete form the motion space and the motion processes of the robots. A model of the feasible dynamic behavior of the robot system is then obtained by mapping the distinguished RAS into a DFSA (Deterministic Finite State Automaton) that ensures collision avoidance among the robots. Based on this model, we formulate the deadlock avoidance problem, discuss its complexity, and demonstrate relevant algorithms to solve it. Finally, we propose a control architecture that implements the described control logic and combines it with the priority control, thus receiving a flexible controller for MMRS.
This work was partially supported by grant no. 2016/23/B/ST7/01441 of the National Science Center.
- 4.Chang, D., Shadden, S., Marsden, J., Olfati Saber, R.: Collision avoidance for multiple agent systems. In: Proceedings of 42nd IEEE International Conference on Decision and Control, Maui, HI, USA, 9–12 December 2003, pp. 539–543. IEEE (2003)Google Scholar
- 5.Cirillo, M., Pecora, F., Andreasson, H., Uras, T., Koenig, S.: Integrated motion planning and coordination for industrial vehicles. In: ICAPS’14 Proceedings of the Twenty-Fourth International Conference on International Conference on Automated Planning and Scheduling, Portsmouth, New Hampshire, USA, 21–26 June 2014, pp. 463–471. AAAI Press (2014)Google Scholar
- 14.Roszkowska, E., Goral, I.: Correct-by-construction distributed control for multi-vehicle transport systems. In: IEEE International Conference on Automation Science and Engineering, Madison, Wisconsin, USA, 17–21 August 2013, pp. 156–161. IEEE (2013)Google Scholar