Deadlock Prevention in Rendezvous Generation for On-demand Inter-robot Resource Delivery

Yin Chen, Xinjun Mao, Fu Hou

Abstract

In this paper, we consider a multi-robot system (MRS) which executes task points associated with 2-D locations. Each task point demands certain physical resources for its execution. A robot can fetch these resources either from fixed stations, or by conducting rendezvouses with other robots who happen to possess these resources, provided that the latter option can be more beneficial in terms of cost or resource availability. However, applying rendezvouses may cause deadlock among robots, through (1) the tangling among rendezvouses, or (2) sabotaging the resource consistency of the schedule of a robot which is originally holding the resources. We analyse these problems and introduce a series of deadlock prevention rules that are embedded into an A*-based rendezvous planning algorithm, so that both type of deadlocks can be avoided in the rendezvouses.

References

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  2. Keshmiri, S. (2011). Multi-robot, multi-rendezvous recharging paradigm: an opportunistic control strategy. In IEEE ROSE.
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Paper Citation


in Harvard Style

Chen Y., Mao X. and Hou F. (2017). Deadlock Prevention in Rendezvous Generation for On-demand Inter-robot Resource Delivery . In Proceedings of the 9th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART, ISBN 978-989-758-220-2, pages 670-675. DOI: 10.5220/0006225806700675


in Bibtex Style

@conference{icaart17,
author={Yin Chen and Xinjun Mao and Fu Hou},
title={Deadlock Prevention in Rendezvous Generation for On-demand Inter-robot Resource Delivery},
booktitle={Proceedings of the 9th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,},
year={2017},
pages={670-675},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006225806700675},
isbn={978-989-758-220-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,
TI - Deadlock Prevention in Rendezvous Generation for On-demand Inter-robot Resource Delivery
SN - 978-989-758-220-2
AU - Chen Y.
AU - Mao X.
AU - Hou F.
PY - 2017
SP - 670
EP - 675
DO - 10.5220/0006225806700675