Deadlock-free dynamic resource assignment in multi-robot systems with multiple missions:application

• 作 者: P.M.BALLAL A.C.TRIVEDI V.GIORDANO J.MIRELES Jr. F.L.LEWIS
• 机 构: Automation & Robotics Research Institute,University of Texas at Arlington,J.Newell Blvd.7300,Fort Wo
• 出 处: 控制理论与应用（英文版）
• 发表日期: 2010年1期
• 关键词: Discrete event systems Wireless sensor networks Deadlock avoidance Petri nets

In unstructured environments, dynamic resource assignment is required for effective cooperation of robot teams. In some scenarios, robots are in charge of executing multiple missions simultaneously. This creates risks of deadlock due to the presence of shared resources among various missions. The main contribution of this paper is the development of a novel approach that combines the one-step look-ahead deadlock avoidance policy with dynamic resource assignment. The dynamic resource assignment is achieved using greedy resource assignment for multi-mission robot teams in the framework of a matrix-based discrete event controller. Simulation results are presented in MATLAB(R) to discuss in detail the proposed control strategy. The paper also discusses the toolkit developed in Lab VIEW(R) which is used to implement this control framework using a suitable example.