Leader-Robot Group Control for Scalable Multi-Robot Task Allocation
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Solution Overview
Problem
As logistics and manufacturing sites expand, the conventional method of individually assigning tasks to autonomous mobile robots by a central control management server becomes inadequate for efficiently managing changes in logistics and manufacturing plans, necessitating a more autonomous and dynamic control system for multiple robots.
Innovation Solution
A system and method where a central control management server configures robots into groups, designates a leader robot for each group, calculates work goals based on overall tasks, and allocates detailed tasks to the leader robots, which can reallocate tasks and request redundant robots as needed to adapt to changes in the work environment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a central control management server individually assigns tasks to each autonomous mobile robot, then task allocation can be centralized and coordinated, but the system becomes inadequate for efficiently managing changes in logistics and manufacturing plans
Solution Approach 1:
The patent divides the robot fleet into multiple groups with designated leader robots. The central server assigns tasks to leader robots rather than individually to each robot, segmenting the control hierarchy to improve responsiveness while maintaining centralized coordination.
Solution Approach 2:
Leader robots dynamically reallocate tasks among group members based on real-time conditions such as battery levels, task progress, and environmental changes. This dynamic allocation enables the system to efficiently adapt to changes in logistics and manufacturing plans without requiring centralized reassignment for every change.
2Extent of automation
If autonomous mobile robots operate with simple exception handling and pre-indicated routines, then the control system remains simple, but the robots lack autonomy to immediately respond to changes in overall logistics and manufacturing plans
Solution Approach 1:
Leader robots autonomously monitor their group members' states and reallocate tasks without requiring central server intervention. Robots self-manage their group's operations, making autonomous decisions based on real-time conditions while maintaining simple individual robot designs.
Solution Approach 2:
Leader robots act as intermediaries between the central control server and individual group members. They receive high-level task assignments from the server and translate them into detailed sub-tasks for group members, adding autonomy at the group level without complicating individual robot architecture.
3Quantity of substance
If the number of autonomous mobile robots increases to handle expanded logistics and manufacturing sites, then coverage and capacity increase, but the conventional central control method becomes inadequate for efficient management
Solution Approach 1:
The patent segments the large fleet of robots into multiple smaller groups, each managed by a leader robot. This segmentation makes it easier to manage large numbers of robots by distributing control responsibilities across multiple leaders rather than requiring the central server to manage every individual robot.
Solution Approach 2:
The patent introduces a hierarchical control dimension, adding a middle layer (leader robots) between the central server and individual robots. This dimensional change in control architecture enables scalable management of large robot fleets by organizing them in a tree-like hierarchy rather than a flat structure.
Data Source
AI summary
A multi-robot control system and method. The multi-robot control method comprises the steps in which: a central control management server configures, into multiple groups, multiple robots to perform work at a site, and designates, as a leader robot, a certain robot included in each group; the central control management server calculates a work goal of each group on the basis of the entire work; and the central control management server transmits the calculated work goal of each group to the leader robot of each group so that the leader robot of each group distributes, to robots belonging to the corresponding group, detailed missions which the robots are required to perform on the basis of the calculated work goal of each group.