Layered Multi-Agent Robot Coordination for Collision-Free Path Execution
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Solution Overview
Problem
In environments with multiple robotic devices, coordinated path planning becomes increasingly time-consuming and computationally complex, especially when deviations occur, leading to potential collisions and inefficiencies in task execution.
Innovation Solution
A layered multi-agent planning framework that allows for simultaneous execution of paths while updating, enabling robotic devices to execute portions of their coordinated paths even as new paths are determined, by identifying traversable portions and providing instructions to adapt to deviations and schedule changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If coordinated path planning is performed for multiple robotic devices, then collision avoidance is achieved, but computational complexity and time consumption increase significantly
Solution Approach 1:
The patent segments the coordinated path planning problem into multiple layers: high-level coordination planning and low-level individual path execution. The coordination layer determines traversal permissions and stopping positions for multiple agents, while the execution layer handles individual path following. This segmentation reduces the overall computational complexity by dividing the multi-agent planning problem into smaller, more manageable sub-problems that can be solved independently and sequentially.
2Reliability
If coordinated path planning is performed for multiple robotic devices, then collision avoidance is achieved, but time consumption increases significantly
Solution Approach 1:
The system performs preliminary coordination planning to determine stopping positions and traversal permissions for multiple agents before they execute their paths. By pre-calculating the coordination requirements and communicating stopping positions to agents in advance, the system avoids real-time computational delays during path execution, thereby reducing overall time consumption while maintaining collision avoidance.
Solution Approach 2:
The patent enables continuous path execution by allowing robotic devices to traverse predetermined paths while the coordination system simultaneously plans and updates coordination information for multiple agents. The execution of individual paths continues uninterrupted while coordination adjustments are made, ensuring that useful action (path traversal) remains continuous rather than pausing for recalculation, thus reducing time loss.
3Manufacturing precision
If robotic devices wait for updated coordinated paths before executing, then path accuracy is maintained, but operational efficiency decreases
Solution Approach 1:
The coordination system determines stopping positions and traversal permissions in advance before agents begin path execution. This preliminary determination of path parameters allows agents to execute with high accuracy from the start without needing to wait for iterative updates, thereby maintaining path accuracy while improving operational efficiency.
Solution Approach 2:
Robotic devices execute predetermined paths autonomously without continuously waiting for coordination updates. The coordination information is provided in advance, and agents self-manage their path execution based on this information, only pausing at predetermined stopping positions when coordination updates are received. This self-service execution model maintains accuracy while significantly improving operational efficiency compared to waiting for continuous updates.
4Productivity
If robotic devices execute paths simultaneously without coordination updates, then operational efficiency is improved, but collision risk increases
Solution Approach 1:
The coordination system implements feedback mechanisms where agents report their positions and status to the coordination layer, which then determines updated stopping positions and traversal permissions based on current system state. This feedback loop allows simultaneous path execution to continue efficiently while maintaining collision avoidance through continuous coordination updates based on actual agent positions.
Solution Approach 2:
The coordination system acts as an intermediary between multiple independent path execution processes. It receives path execution status from agents, determines coordination information including stopping positions and traversal permissions, and communicates this back to agents. This intermediary coordination layer enables simultaneous execution while preventing collisions, resolving the contradiction between efficiency and safety.
Data Source
AI summary
A method includes receiving first and second coordinated paths for first and second robotic devices. The first coordinated path comprises a dependency edge indicating a first position on the first coordinated path and a second position on the second coordinated path. The method also includes determining a first traversable portion extending to a first stopping position before or at the first position on the first coordinated path. The method also includes providing a first instruction to the first robotic device to traverse the first traversable portion; subsequently determining that the second robotic device has passed the second position on the second coordinated path; determining a second traversable portion of the first coordinated path extending to a second stopping position beyond the first position on the first coordinated path; and providing a second instruction to the first robotic device to traverse the second traversable portion.