Distributed Robots Path/Tasks Planning on Fetch Scheduling

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Author(s): Nilda G. Villanueva-Chacón (Universidad Autónoma de Ciudad Juárez, Mexico)and Edgar A. Martínez-García (Universidad Autónoma de Ciudad Juárez, Mexico)
Copyright: 2015
Pages: 33
Source title: Handbook of Research on Advancements in Robotics and Mechatronics
Source Author(s)/Editor(s): Maki K. Habib (The American University in Cairo, Egypt)
DOI: 10.4018/978-1-4666-7387-8.ch026

Keywords: Computer Science & IT / Engineering Science Reference / Mechanical Engineering / Robotics

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Abstract

A highly concurrent task-planner for distributed multi-robot systems in dynamical industrial feed-lines is presented in this chapter. The system deals with two main issues: a) a path-planning model and b) a robotic-tasks scheduler. A set of kinematic control laws based on directional derivatives model the dynamical robots interaction. Distributed wheeled mobile robots perform the execution of autonomous tasks concurrently and synchronized just in time. A planner model for distributed tasks to autonomously reconfigure and synchronize online change priority missions by the robotic primitives—sense, plan, and act—are proposed. The robotic tasks concern carry-and-fetch to different goals, and dispatching materials. Numerical simulation of mathematical formulation and real experiments illustrate the parallel computing capability and the distributed robot's behavior. Results depict robots dealing with highly concurrent tasks and dynamical events through a parallel scheme.

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