Multi-Robot Position Control Under Intermittent Communication
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Solution Overview
Problem
Existing technologies fail to maintain continuous control of robot positions when communication between robots is intermittently disrupted.
Innovation Solution
A control device that includes a constraint condition calculation unit to identify and update constraint conditions based on past position information and current communication status, ensuring robots maintain a safe distance and operate within defined movable ranges even in poor communication environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If robots communicate continuously to maintain position control, then control precision is improved, but communication reliability deteriorates in intermittent communication environments
Solution Approach 1:
The constraint condition calculation unit calculates and stores constraint conditions in advance based on past position information before communication is needed. When communication is intermittent or unavailable, these pre-calculated constraint conditions can be used to maintain control without requiring real-time communication.
Solution Approach 2:
Constraint conditions act as an intermediary between position information and control commands. Instead of requiring direct continuous communication between robots for position control, the constraint conditions mediate by providing pre-established movement constraints that can be applied locally when communication is unavailable.
2Reliability
If robots move to restore communication connection, then communication reliability is improved, but operational continuity deteriorates
Solution Approach 1:
Instead of requiring full communication restoration before control can proceed, the system uses partial information (past position data) to calculate constraint conditions that enable continued operation. This partial action allows control to continue with limited information rather than waiting for complete communication restoration.
Solution Approach 2:
Each robot independently calculates its own constraint conditions using its stored past position information and current sensor data, without requiring real-time communication with other robots. This self-service capability allows continuous operation even when communication is intermittent.
3Measurement precision
If constraint conditions are updated frequently based on current communication, then control accuracy is improved, but system complexity increases
Solution Approach 1:
Constraint conditions are calculated in advance and stored for later use, reducing the need for frequent real-time calculations and communications. This preliminary calculation simplifies the real-time control process while maintaining accuracy through pre-computed constraints.
Solution Approach 2:
The system uses copies of past position information to generate constraint conditions rather than requiring continuous access to real-time position data from other robots. This copying approach reduces communication requirements while maintaining control accuracy.
Data Source
AI summary
A control device includes a communication unit, a restriction condition calculation unit, and a control unit. The communication unit receives, from a second robot, a current position of the second robot, and restriction-related information used for controlling the second robot based on positions of a first robot and the second robot at past times. The restriction condition calculation unit calculates restriction condition candidates indicating conditions of a range in which movement is possible, based on the current position and the restriction-related information received from the second robot. The restriction condition calculation unit also identifies a restriction condition having the most recent time among the calculated restriction condition candidates. The control unit controls the position of the first robot so as to move in a manner satisfying the restriction condition identified by the restriction condition calculation unit.