HAL Id: hal-01979716
https://hal.laas.fr/hal-01979716
Submitted on 25 Jan 2019
HAL is a multi-disciplinary open access archive for the deposit and dissemination of sci-entific research documents, whether they are pub-lished or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers.
L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.
A Scheme for Coordinating Multi-robot Planning
Activities and Plans Execution
Rachid Alami, Félix Ingrand, Samer Qutub
To cite this version:
Rachid Alami, Félix Ingrand, Samer Qutub. A Scheme for Coordinating Multi-robot Planning Ac-tivities and Plans Execution. 13th European Conference on Artificial Intelligence (ECAI), Aug 1998, Brighton, United Kingdom. �hal-01979716�
No Globa l Solution Completely system Dea dlock Pa rtia lly Distributed System Completely Centra lized System Distributed Solution Found Detected Detected Dea dlock
"Globa l" Dea dlock Detected
Globa l Solution Found
New
R1 R0 R2 R3 S0 S1 S2 S4 S3 e0 e3 R1 R2 R3 S0 S1 S2 S4 S3 R0 R1 R2 R3 S0 S1 S2 S4 S3 R0 e1 R1 R0 R2 R3 S0 S1 S2 S4 S3 R3 S0 R6 S1 S2 S4 S3 R2 R4 C B A D E Rj ek Rk
{ ..Mk.. } PMO Activity on missions { ..Mk.. }
Rk Signals Wait Planning event to Rj e3 e0 R1 e2 R0 R1 R2 R3 t
Rk Wait Planning event from Rk Deadlock detected with {..Rk..}
{ ..Rk..} M0 : Goto (R0, S0) M3: Goto (R2, S2) M2 : Goto (R1, S1) M1 : Goto (R3, S4) M0 {M3, M1, M0, M2} {R1 R2 R3} {M3, M1} {M0, M2} M2 M3 R2 M1
Rk Rj Rk Sends coordinated Plan to Rj
{R3}
{R2} R2
