Title :
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
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;
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
DOI :
10.1109/MED.2006.328691
