In this paper, we propose a decentralized coordination algorithm for safe and efficient management of a group of mobile robots following predefined paths in a dynamic industrial environment. The proposed algorithm is based on shared resources and proved to guarantee ordered traffic flows avoiding collisions and deadlocks. In consistency with the model of distributed robotic systems (DRS), no centralized mechanism, synchronized clock, shared memory or ground support is needed. A local inter-robot communication is required among a small number of spatially adjacent robotic units.
Manca, S., Fagiolini, A., Pallottino, L. (2011). Decentralized Coordination System for Multiple AGVs in a Structured Environment. In Proceedings of 18th IFAC World Congress (pp. 6005-6010) [10.3182/20110828-6-IT-1002.01877].
Decentralized Coordination System for Multiple AGVs in a Structured Environment
FAGIOLINI, Adriano;
2011-01-01
Abstract
In this paper, we propose a decentralized coordination algorithm for safe and efficient management of a group of mobile robots following predefined paths in a dynamic industrial environment. The proposed algorithm is based on shared resources and proved to guarantee ordered traffic flows avoiding collisions and deadlocks. In consistency with the model of distributed robotic systems (DRS), no centralized mechanism, synchronized clock, shared memory or ground support is needed. A local inter-robot communication is required among a small number of spatially adjacent robotic units.
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