Title :
Dynamic control of distributed autonomous robotic systems with underlying three-index assignments
Author :
Starke, J. ; Molnár, P.
Author_Institution :
Inst. fur Angewandte Math., Heidelberg Univ., Germany
Abstract :
Distributed autonomous robotic units are controlled in a manufacturing environment with obstacles where the robotic units have to be assigned to manufacturing targets in a cost effective way. Besides the dynamic control of the robotic units in space, the underlying optimization problem is the NP-hard three-index assignment problem. The suggested approach leads to a self-organized behaviour of the robotic units. The used dynamical system is based first on the selection of modes which appears in pattern formation of physical systems and second on behavioural forces, which have been successfully applied to describe self-organized crowd behaviour of pedestrians. This novel approach includes collision avoidance as well as error resistance, i.e., in systems where failures are of concern, the system covers up for sudden external changes like breakdowns of some robotic units. The capabilities are demonstrated in computer simulations
Keywords :
collision avoidance; computational complexity; distributed control; industrial robots; optimal control; self-adjusting systems; NP-hard three-index assignment problem; behavioural forces; collision avoidance; distributed autonomous robotic systems; dynamic control; error resistance; mode selection; optimization; pattern formation; self-organized behaviour; self-organized crowd behaviour; three-index assignments; Collision avoidance; Computer errors; Control systems; Costs; Distributed control; Electric breakdown; Manufacturing; Orbital robotics; Pattern formation; Robot control;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.972599