Collision and Deadlock Avoidance in Multirobot Systems: A Distributed Approach
Collision avoidance is a critical problem in motion planning and control of multirobot systems. Moreover, it may induce deadlocks during the procedure to avoid collisions. In this paper, we study the motion control of multirobot systems where each robot has its own predetermined and closed path to e...
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sg-ntu-dr.10356-834392020-03-07T11:48:57Z Collision and Deadlock Avoidance in Multirobot Systems: A Distributed Approach Zhou, Yuan Hu, Hesuan Liu, Yang Ding, Zuohua School of Computer Science and Engineering Discrete event systems Collision and deadlock avoidance Collision avoidance is a critical problem in motion planning and control of multirobot systems. Moreover, it may induce deadlocks during the procedure to avoid collisions. In this paper, we study the motion control of multirobot systems where each robot has its own predetermined and closed path to execute persistent motion. We propose a real-time and distributed algorithm for both collision and deadlock avoidance by repeatedly stopping and resuming robots. The motion of each robot is first modeled as a labeled transition system, and then controlled by a distributed algorithm to avoid collisions and deadlocks. Each robot can execute the algorithm autonomously and real-timely by checking whether its succeeding state is occupied and whether the one-step move can cause deadlocks. Performance analysis of the proposed algorithm is also conducted. The conclusion is that the algorithm is not only practically operative but also maximally permissive. A set of simulations for a system with four robots are carried out in MATLAB. The results also validate the effectiveness of our algorithm. MOE (Min. of Education, S’pore) Accepted version 2017-08-04T02:04:39Z 2019-12-06T15:22:55Z 2017-08-04T02:04:39Z 2019-12-06T15:22:55Z 2017 Journal Article Zhou, Y., Hu, H., Liu, Y., & Ding, Z. (2017). Collision and Deadlock Avoidance in Multirobot Systems: A Distributed Approach. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 47(7), 1712-1726. 2168-2216 https://hdl.handle.net/10356/83439 http://hdl.handle.net/10220/43545 10.1109/TSMC.2017.2670643 en IEEE Transactions on Systems, Man, and Cybernetics: Systems © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: [http://dx.doi.org/10.1109/TSMC.2017.2670643]. 15 p. application/pdf |
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Discrete event systems Collision and deadlock avoidance Zhou, Yuan Hu, Hesuan Liu, Yang Ding, Zuohua Collision and Deadlock Avoidance in Multirobot Systems: A Distributed Approach |
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Collision avoidance is a critical problem in motion planning and control of multirobot systems. Moreover, it may induce deadlocks during the procedure to avoid collisions. In this paper, we study the motion control of multirobot systems where each robot has its own predetermined and closed path to execute persistent motion. We propose a real-time and distributed algorithm for both collision and deadlock avoidance by repeatedly stopping and resuming robots. The motion of each robot is first modeled as a labeled transition system, and then controlled by a distributed algorithm to avoid collisions and deadlocks. Each robot can execute the algorithm autonomously and real-timely by checking whether its succeeding state is occupied and whether the one-step move can cause deadlocks. Performance analysis of the proposed algorithm is also conducted. The conclusion is that the algorithm is not only practically operative but also maximally permissive. A set of simulations for a system with four robots are carried out in MATLAB. The results also validate the effectiveness of our algorithm. |
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School of Computer Science and Engineering |
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School of Computer Science and Engineering Zhou, Yuan Hu, Hesuan Liu, Yang Ding, Zuohua |
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Article |
author |
Zhou, Yuan Hu, Hesuan Liu, Yang Ding, Zuohua |
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Zhou, Yuan |
title |
Collision and Deadlock Avoidance in Multirobot Systems: A Distributed Approach |
title_short |
Collision and Deadlock Avoidance in Multirobot Systems: A Distributed Approach |
title_full |
Collision and Deadlock Avoidance in Multirobot Systems: A Distributed Approach |
title_fullStr |
Collision and Deadlock Avoidance in Multirobot Systems: A Distributed Approach |
title_full_unstemmed |
Collision and Deadlock Avoidance in Multirobot Systems: A Distributed Approach |
title_sort |
collision and deadlock avoidance in multirobot systems: a distributed approach |
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2017 |
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https://hdl.handle.net/10356/83439 http://hdl.handle.net/10220/43545 |
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1681047104974225408 |