Multi-Robot Path Planning With Task Dependencies and Real Dynamics
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Solution Overview
Problem
Existing technologies struggle to efficiently navigate multiple robots in constrained environments while handling interdependent tasks and complex real-world dynamics, often leading to collisions and suboptimal performance.
Innovation Solution
An automated system and method for controlling multiple navigating robots that utilize Interleaved Prioritized Planning (IPP) and Via-Point Star (VP*) algorithms to determine collision-free paths, considering real robot dynamics and precedence constraints, ensuring efficient task completion and resource utilization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple robots navigate in constrained environments using traditional path planning methods, then the navigation capability is provided, but collisions occur and performance becomes suboptimal
Solution Approach 1:
The patent segments the navigation problem into discrete tasks with precedence constraints, where each robot's path is planned as a sequence of independent task segments. This allows the complex multi-robot coordination problem to be broken down into manageable sub-problems that can be solved independently and then integrated, ensuring collision-free navigation while maintaining high task completion efficiency.
Solution Approach 2:
The patent applies preliminary action by pre-planning paths for multiple robots considering their dynamics and task dependencies before execution. The Interleaved Prioritized Planning algorithm computes paths in advance, taking into account robot-specific dynamics models and task precedence constraints, which prevents collisions and optimizes overall system productivity before the robots actually execute their navigation tasks.
2Adaptability or versatility
If traditional path planning algorithms are used for multiple robots, then implementation is simple, but they fail to account for real robot dynamics and interdependent tasks
Solution Approach 1:
The patent incorporates real robot dynamics by integrating dynamics models directly into the path planning algorithm. Each robot's motion characteristics, acceleration limits, and dynamic constraints are modeled and used to generate dynamically-feasible paths. This allows the system to adapt to specific robot hardware characteristics while maintaining computational efficiency through the prioritized planning framework.
Solution Approach 2:
The patent introduces an intermediary layer between the high-level task specification and low-level robot control. The Interleaved Prioritized Planning algorithm acts as this intermediary, translating abstract task dependencies and robot dynamics into concrete executable paths. This intermediary handles the complexity of coordinating multiple robots with interdependent tasks while presenting a simplified interface for task assignment and path execution.
3Productivity
If robots wait for task availability without designated waiting areas, then resource utilization improves, but robots block movement of other robots
Solution Approach 1:
The patent extracts the waiting function from the general navigation space by designating specific waiting areas where robots can pause without blocking others. These waiting areas are identified and reserved in advance by the path planning algorithm, allowing robots to wait for task availability or task completion while maintaining smooth movement flow for other robots in the environment.
Solution Approach 2:
The patent introduces waiting areas as intermediary zones that mediate between robot task execution and environment navigation. These designated waiting areas serve as buffer zones where robots can temporarily pause their operations without interfering with the movement of other robots, thus maintaining both high resource utilization and smooth environmental traffic flow.
Data Source
AI summary
An automated system for a space includes: k navigating robots operating within the space to perform a set of orders, where k is an integer greater than or equal to two, where the space includes one or more waiting areas where any navigating robot may wait without blocking movement of another navigating robot; and a control module configured to receive the set of orders and communicate, to the k navigating robots, paths p for the k navigating robots to fulfil the set of orders, with each order in the set of orders including one or more tasks including a sequence of actions to be performed at a location in the space, having an order availability time after which any task of an order may start, and being associated with a set of precedence constraints arising from at least one of a relationship between orders and a resource of an order.