Reactive robot control with hybrid operational models in a seaport container terminal considering system reliability

When robot maintenance impedes the operation of other robots in a seaport container terminal, the operational efficiency is reduced. Therefore, robot reliability is necessary. In this paper, we propose a reactive robot control system with hybrid operational models for flexible and efficient container handling in consideration of robot reliability. For this purpose, we focus on three operational models in the states of normal, preventive, and corrective maintenance in order to utilize the mutual substitutability of the operation among robots. By applying hybrid operational models, each robot is able to respond to the dynamically changing states reactively. Finally, we discuss the effectiveness of the proposed system in a seaport container terminal.