How to solve deadlock situations within the plan-merging paradigm for multi-robot cooperation

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HAL Id: hal-01979710

https://hal.laas.fr/hal-01979710

Submitted on 13 Jan 2019

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How to solve deadlock situations within the

plan-merging paradigm for multi-robot cooperation

Samer Qutub, Rachid Alami, Félix Ingrand

To cite this version:

Samer Qutub, Rachid Alami, Félix Ingrand. How to solve deadlock situations within the plan-merging paradigm for multi-robot cooperation. IEEE/RSJ International Conference on Intelligent Robot and Systems. (IROS), Nov 1997, Grenoble, France. �hal-01979710�

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a PMO before Ri) (Rj must perform Pred_i i Succ Ri Rj Ri

Planning Dependency Graph

Predecessors Successors

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D Li = {R0, R1, R6} R0 R1 R2 R6 R5 R7 R2 R5 Co m p o s itio n N o d e Me ta N o d e R7 D Li = D Li + {R7} D Li = R5 R7 R2 R5 R2 Me ta N o d e N o d e Co m p o s itio n Cu rre n t Me ta N o d e {R0, R1, R6} N e w Me ta N o d e

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Planner Local Multi-robot In it Deadlock-give-info) Cycle(DLk) Wait(DLi, Ok Deadlock(DLi) NOk Send(DLi, Go-on) Wait(DLi, or Cycle(DLk)) Deadlock-info Ok or NOK) 0 1 2 3 4 5 6 7 Send(DLi, Stop) Events DLi = DLi + DLk Actions Send(DLi, plans) Send(DLi,

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In it Deadlock-give-info Send( Coor, Deadlock-info) Coor (Slave Deadlock-give-info (DLj)) Rob) _(Coordinator Simple Send(Rob, Coor) Wait(Coor, plan Or pmo-event plan pmo-event ) Wait(Coor, Send(Coor, Cycle(DLj)) Send(coor, NOk) Stop Go-on Execute(plan) 1 2 3 4 5 6 7 8 1 1 1 0 9 Actions Events Send(coor, Ok) Go-on Or Stop)

(ENV) c e n tra lize d

Co m p le te ly s y s te m D is tribu te d P a rtia ly S y s te m D is tribu te d Co m p le te ly s y s te m Success DeadLock(i) DeadLock DeadLock(j) Success Humans 4 0 1 2 3

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Goto-station 0 Goto-station 4 Goto-station 1 Goto-station 2 Goto-station 3 Goto-station 4 R3 R6 R1 R0

PMO Event Execution Event produced by the local planner

Goto Station 2 Goto Station 0 Goto Station 3 Goto Station 2 Goto Station Goto Station 4 1 R1 R6 R1 R0 R3 R0

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