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A distributed method to avoid higher-order deadlocks in multi-robot systems
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DOI：10.1016/j.automatica.2019.108706.png)
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Deadlock avoidance is a crucial problem in motion control of multi-robot systems since deadlocks can crash the systems and /or degrade their performance. However, deadlocks sometimes are difficult to predict in advance because of the existence of higher-order deadlocks, from which a system can lead to a deadlock inevitably. In this paper, we investigate the properties of higher-order deadlocks and propose a distributed approach to their avoidance in multi-robot systems where each robot has a predetermined and closed path to execute persistent motion. After modeling the motion of robots by labeled transition systems (LTSs), we first conclude that there exist at most the (N - 3)-th order deadlocks with N robots. This means that deadlocks, if any, will occur unavoidably within N -3 steps of corresponding transitions. A distributed algorithm is then proposed to avoid deadlocks in such systems. In the algorithm, each robot only needs to look ahead at most N - 1 states, i.e., N - 3 intermediate states and two endpoint states, to decide whether its move can cause higher-order deadlocks. To execute the algorithm, each robot needs to communicate with its neighbors. The theoretical analysis and experimental study show that the proposed algorithm is practically operative. (C) 2019 Elsevier Ltd. All rights reserved.
Keyword:
Autonomous mobile robots
Deadlock
Robot control
Discrete-event systems
Distributed control
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IF:
5.9
论文数:
1.2W
被引数:
5.2W
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