Supervision system for conflict avoidance in multi-robot tasks

A system that supervises the time and space evolution of trajectories followed by all robots and other machines that share the same working area, called the supervision system, is described. The supervision system uses the information acquired by the suitable position sensors to analyze these trajectories. The incompatibility functions with respect to other machines have to be taken into account to perform this analysis. These incompatibilities are learned by the system during the training phase. In the operating phase, each trajectory is tracked by the supervision system and continuously compared with one or more functions previously memorized