PLC based coordination schemes for a multi-robot system

A robotic work cell with multiple robots can accomplish complex tasks that a single robot cannot manage. Robots in the work cell cooperate with each other, or compete for shared motion path, resources and workspace. So coordinating multiple robots is essential for designing a robotic work cell. We present a logic model of a robotic work cell to build controllers that meet required behavior, and construct a performance model to measure the performance of controllers. We verify the presented model with an experimental multi-robot work cell.