Distributed supervisory control for a system of path-network sharing mobile robots

摘要

The paper presents a distributed control system for a multiple mobile robot system (MMRS). The robots share a common workspace, i.e., a network of paths, that is further partitioned into a number of sub-networks. Each sub-network has a separate controller, responsible for supervising the robot motion in its respective area, and communication with the other controllers. We discuss the architecture of the control system, the formal foundations underlying the control concept and ensuring its correctness, as well as their concrete implementations. The considerations are illustrated with a number of screens captured in the computer system initially developed to assist the synthesis of AGV network control [9], and now being tailored for the needs of MMRS. The reported work is still under the construction, yet the most crucial part has already been done.