Deadlock free dynamic resource assignment in multi-robot systems with multiple missions: a matrix-based approach

Author

Ballal, Prasanna ; Giordano, Vincenzo ; Lewis, Frank

Author_Institution

Autom. & Robotics Res. Inst., Texas Univ., Arlington, TX

fYear

2006

fDate

28-30 June 2006

Firstpage

1

Lastpage

6

Abstract

Effective cooperation of robot teams in unstructured environments requires dynamic resource assignment. If the robots are also in charge of executing multiple simultaneous missions, then risks of deadlocks due to the presence of shared resources among different missions have to be tackled. This paper presents a novel approach to combine together a one step-ahead deadlock avoidance policy with a greedy dynamic resource assignment for multi-mission robot teams in the framework of a matrix based discrete event controller. Simulation results in Matlabreg are presented to discuss in detail the proposed control strategy

Keywords

concurrency control; discrete event systems; greedy algorithms; matrix algebra; mobile radio; multi-robot systems; resource allocation; telecommunication control; wireless sensor networks; Matlab; deadlock avoidance; deadlock free dynamic resource assignment; discrete event controller; greedy algorithm; matrix algebra; mobile sensor network; multimission robot system; Automatic control; Control systems; Heuristic algorithms; Multirobot systems; Network topology; Robot kinematics; Robot sensing systems; Robotics and automation; Sensor systems; System recovery;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation, 2006. MED '06. 14th Mediterranean Conference on

Conference_Location

Ancona

Print_ISBN

0-9786720-1-1

Electronic_ISBN

0-9786720-0-3

Type

conf

DOI

10.1109/MED.2006.328691

Filename

4124874