HAL Id: hal-01979708
https://hal.laas.fr/hal-01979708
Submitted on 13 Jan 2019
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Operating a large fleet of mobile robots using the
plan-merging paradigm
Rachid Alami, Sarah Fleury, Matthieu Herrb, Félix Ingrand, Samer Qutub
To cite this version:
Rachid Alami, Sarah Fleury, Matthieu Herrb, Félix Ingrand, Samer Qutub. Operating a large fleet of mobile robots using the plan-merging paradigm. IEEE International Conference on Robotics and Automation, Apr 1997, Albuquerque, United States. �hal-01979708�
0 1 2 3 4 6 7 8 12 13 14 15 16 17 18 19 20 26 27 28 29 30 31 32 33 34 35 21 22 23 36 25 24 9 10 11 37 38 39 40 5 Cell Lane Area Crossing Lane 1 Lane 2 Lane 3 Lane 4 Lane 7 Lane 8 Lane 11 Lane 12 Lane 6 Lane 5 Lane 10 Lane 9 Area 2 Area 3 Area 1 Crossing 1 Crossing 2 Crossing 3 Lane 13 C1 C2 C3 C4 C5 C6 C7 C8 C10 C11 C12 C13 C14 C15 C16 C17 C18 C19 C20 C21 C23 C22 C36 C24 C25 C26 C27 C28 C29 C30 C31 C32 C33 C34 C35 C37 C38 C0 C9 Area 2 Area 3 Area 1 Station 2 Station 3 Station 4 Station 0 Station 1 Station 5 Station 6 Lane 13 Lane 1 Lane 10 Lane 9 Lane 7 Lane 6 Lane 5 Lane 2 Lane 3 Lane 4 Lane 12 Lane 11 Lane 8 Crossing 2 Crossing 3 Crossing 1 C39 C40
robot 1
robot 2
robot 3
robot 4
Events (resource allocation or release)
Synchronisations between robot plans
Added temporal constraints New plan
Temporal constraint for one robot plan Coordinated plan
Supervisor perception motion execution motion planner communi− cation Ethernet mission coordination visualisation (position, trajectoiries, obstacles) (mission (action 1 (...)) (action 2 (...)) )
Central Station Graphic Display
Junior H2 bis Ethernet − TCP/IP (mission (action 1 (...)) (action 2 (...)) )
Central Station Graphic Display
modemrs 232 + modemrs 232 + modem rs 232 + Hilare 2 Supervisor perception motion execution motion planner communi− cation cameras rack