HAL Id: hal-01979392
https://hal.laas.fr/hal-01979392
Submitted on 12 Jan 2019
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Multi-Robot Cooperation through Incremental
Plan-Merging
Rachid Alami, Frédéric Robert, Félix Ingrand, Sho’Ji Suzuki
To cite this version:
Rachid Alami, Frédéric Robert, Félix Ingrand, Sho’Ji Suzuki. Multi-Robot Cooperation through Incremental Plan-Merging. Proceedings of 1995 IEEE International Conference on Robotics and Automation, May 1995, Nagoya, Japan. �hal-01979392�
Planning events No PMO in progress State0 State1 State2 State3 PMO deferred
Got the right and Collecting done
PMO success Waiting
planning events and Monitoring plan merging deadlock New coordination plan required by execution. Planning and Plan merging operation Waiting for the right to perform a PMO and Collecting coordination plans Plan merging deadlock detected (PMO failure)
Execution Plan Merging Protocol Missions Coordination plan requests
Plans Coordination plans Refinement
Broadcast to collect coordination plans concerning the list of required resources.
First in all required resource queues.
Broadcast to collect coordination plans concerning the list of required resources.
Collecting Coordination plans.
Broadcast to declare a PMO intention for a given list of required resources.
New coordination plan required by execution. State1.0 State1.1 State1.2 Event Action
Waiting for information about required resources queues.
Monitoring all required resources queues.
All required resources queues are empty. Any required resources
queues are not empty. planning events
Got the right and collecting done.
R1 c1 c2 c3 c4 c5 c6 c7 c8 c9 c10 c11 c12 c13 c16 c15 c14 Instant: t0 R2 R4 R1 Instant: t6 R2 R4 Instant: t7 R3 R2 R4 R1 Instant: t5 R1 c11 c12 c13 c6 R2 c? c12 c8 c6 c12 R4 c? c11 c4 c12 c10 c11 c2 c12 c10 R1 R3 R2 Instant: t2 R4 R3 c3 c? c9 c10 c9 c1 c10 R2 c? c12 c8 c6 c12 R1 R3 R2 Instant: t1 R1 c4 c12 c6 c11 c12 c11 cell robot Legend: Coordination plan allocation of a cell free of a cell
part of Plan to merge synchronisation R1 R2 R3 R4 R4 c? c11 c4 c12 c10 c11 c2 c12 c10 R1 c11 c12 Instant: t3 R3 c3 c9 c10 c9 c1 c10 R1 c11 c12 c13 c6 R3 c1 c9 c15 c3 R1 R3 R2 R4 Instant: t4 state1.0 state1.1 state1.2 state2 state3 state0 Legend: causality link R1 R2 R3 R4 t0 t1 t2 t3 t4 t5