Multi-Robot Resource Access Control for Congestion-Free Waiting
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Solution Overview
Problem
In environments with multiple robots, congestion occurs when robots waiting to access common resources block pathways, hindering the movement of other robots, which is undesirable and affects operational efficiency.
Innovation Solution
The system employs spatial queries using both static and dynamic spatial data to determine non-congestive positions for robots waiting to access common resources, and a plan execution engine collaboratively determines a priority order for resource access based on task priority, battery level, and other factors to ensure efficient and congestion-free movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple robots are deployed to increase operational throughput, then productivity increases, but congestion occurs when robots wait for common resources blocking pathways
Solution Approach 1:
The system segments the workspace into multiple zones including a dedicated waiting area separated from the main pathway. Robots awaiting resource access are directed to this segmented waiting zone, physically separating them from active pathways and preventing congestion while maintaining high robot deployment levels for productivity.
Solution Approach 2:
A centralized resource management system acts as an intermediary between robots and common resources. This mediator coordinates robot access to charging stations and high-demand racks, managing queue order and directing robots to appropriate waiting positions, thereby eliminating random blocking of pathways while maintaining operational throughput.
2Loss of time
If robots wait near common resources to access them quickly, then access time decreases, but pathways become blocked
Solution Approach 1:
The system resolves the spatial conflict by utilizing the vertical dimension and lateral spacing. The waiting area is positioned adjacent to but not overlapping with pathways, allowing robots to maintain proximity to common resources while occupying a different spatial zone that doesn't impede pathway accessibility.
Solution Approach 2:
Robots are directed to designated waiting positions in advance before actually needing to access the common resource. This preliminary positioning is coordinated through the resource management system, which prepares the waiting area and assigns positions before robots arrive, ensuring pathways remain clear while robots are already positioned for quick access.
Data Source
AI summary
Embodiments herein disclose methods and systems to avoid congestion in an area by a plurality of robots awaiting access to a common resource. A current robot action and a sensor data of one of the plurality of robots is received at a cloud node. Based on the received current robot action and the sensor data, a determination is made whether the one of the plurality of robots has to access the common resource. Next, a spatial query is executed at the cloud node to determine a location in the area for positioning the one of the plurality of robots awaiting access to the common resource based on a static spatial condition that requires a congestion-free movement when the robot is positioned at the location in the area. Next, based on a collaboratively determined priority order, the common resource is accessed by the one of the plurality of robots.