Multi-Robot Resource Access Control for Congestion-Free Queuing
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Solution Overview
Problem
In environments with multiple robots, congestion occurs when robots waiting to access common resources block pathways, and existing methods fail to adapt to physical changes in the environment, leading to inefficient operation and increased waiting times.
Innovation Solution
The system employs spatial queries using both static and dynamic spatial data to determine optimal positions for robots waiting to access common resources, ensuring congestion-free movement and prioritizing access based on task priority and other factors through a plan execution engine.
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 distinct zones including a common resource area and separate waiting areas for robots. By dividing the space and assigning specific waiting zones near common resources, robots are prevented from blocking pathways while awaiting access, thus maintaining high productivity without causing congestion.
Solution Approach 2:
The system introduces a centralized server as an intermediary that manages robot access to common resources. The server receives requests from robots, determines optimal waiting positions using spatial queries, and coordinates access to prevent conflicts. This mediator enables multiple robots to operate efficiently without mutual interference.
2Loss of time
If robots queue near common resources to maintain access priority, then resource access efficiency improves, but free space and pathways are blocked
Solution Approach 1:
The system divides the space around common resources into designated waiting zones that are spatially separated from main pathways. Robots are directed to these segmented waiting areas rather than queuing freely near resources, reducing waiting time while preserving pathway accessibility for other robots.
Solution Approach 2:
The system utilizes spatial queries to determine waiting positions in multiple spatial dimensions, positioning robots in optimal locations that balance proximity to resources with pathway clearance. By considering multi-dimensional spatial relationships, the system minimizes pathway blocking while maintaining efficient access sequences.
3Ease of operation
If existing queuing methods are used, then robot access to processing stations is organized, but the system cannot adapt to physical changes in the environment
Solution Approach 1:
The system implements dynamic spatial queries that continuously adapt to changing environmental conditions. When physical changes occur in the workspace, the server receives updated spatial information and recalculates optimal waiting positions for robots in real-time, maintaining organized queuing while adapting to new conditions.
Solution Approach 2:
The system incorporates feedback mechanisms where the server continuously monitors robot positions, environmental changes, and resource availability. Based on this feedback, the server dynamically adjusts waiting position assignments and access priorities, enabling the queuing system to adapt to physical environmental changes while maintaining operational organization.
Data Source
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AI summary
Embodiments herein disclose methods and systems to avoid congestion in an area by plurality of robots awaiting access to common resource. A current robot action and sensor data of one of plurality of robots is received at cloud node from plan execution engine executing at processor of one of plurality of robots. Based on received current robot action and sensor data, determination is made whether one of plurality of robots has to access common resource. Next spatial query is executed to determine location in area for positioning one of plurality of robots awaiting access to common resource based on static spatial condition that requires congestion-free movement in area when robot is positioned at location in area. Next priority order for accessing common resource is determined by plan execution engine. Finally, based on determined priority order, common resource is accessed by one of plurality of robots.