The deadlock free path generation algorithm for multi-MoMo in R+iSpace

Intelligent environments are the extensive environmental systems that provide information and services to user via robots, displays and speaker. Interaction is realized by networks of sensors installed in the wall and ceilings of buildings. The intelligent environment R+iSpace rearranges devices in physical space, achieving consistent high performance of the environmental system. In the R+iSpace system, devices are mounted on mobile modules (MoMos), which are spatially arranged to suit a required situation. The MoMo path generation algorithm, which was proposed in previous works, did not consider the deadlock situation. Here, we propose a reactive path generation algorithm, in which MoMos sequentially generate their paths based on the positions of other MoMos. The new algorithm is implemented in six layers. Each layer determines the cost of moving to adjacent nodes based on specified criteria, and the next node device node is decided by integrating the results of all layers. The performance of new algorithm is validated in computer simulations.