6533b870fe1ef96bd12cfbc2
RESEARCH PRODUCT
Decentralized Coordination System for Multiple AGVs in a Structured Environment
Sergio MancaLucia PallottinoAdriano Fagiolinisubject
Coordination algorithms0209 industrial biotechnologyEngineeringbusiness.industryDistributed computingMobile robot0102 computer and information sciences02 engineering and technologyGround support01 natural sciencesComputer Science::RoboticsConsistency (database systems)020901 industrial engineering & automationRobotic systemsShared memorySettore ING-INF/04 - Automatica010201 computation theory & mathematicsCollision avoidance distributed control autonomous vehiclesbusinessdescription
Abstract In this paper, we propose a decentralized coordination algorithm for safe and efficient management of a group of mobile robots following predefined paths in a dynamic industrial environment. The proposed algorithm is based on shared resources and proved to guarantee ordered traffic flows avoiding collisions and deadlocks. In consistency with the model of distributed robotic systems (DRS), no centralized mechanism, synchronized clock, shared memory or ground support is needed. A local inter-robot communication is required among a small number of spatially adjacent robotic units.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2011-01-01 |