Multi-Robot Capability Coordination for Dynamic Task Execution
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Solution Overview
Problem
Existing robot control systems are inflexible in adapting to dynamic changes in a robot's capabilities and environment, limiting their ability to effectively execute tasks that require additional abilities not initially possessed.
Innovation Solution
A control device and method that includes an ability management unit to determine a robot's capabilities, a help management unit to generate a help list for required abilities, and a cooperation management unit to instruct a second robot to assist in task execution, enabling flexible task execution by coordinating with other robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If robot control systems use static ability management based on hardware configuration, then the control system structure is simple, but the system cannot adapt to dynamic changes in robot capability and environment
Solution Approach 1:
The patent implements dynamic ability management by continuously updating the robot's capability status based on current operational state, battery level, and environmental conditions. The ability management unit dynamically determines available capabilities at predetermined timing, transforming the static hardware-based control into a dynamic system that adapts to changing conditions while maintaining manageable complexity through structured updates.
Solution Approach 2:
The system incorporates feedback mechanisms where the ability management unit continuously monitors the robot's current capability status and feeds this information back to the task management unit. This feedback loop enables the system to adapt task allocation and robot assignment based on real-time capability assessment, improving adaptability without requiring complete system redesign.
2Adaptability or versatility
If a single robot executes all tasks independently, then the system structure is simple, but the system cannot execute tasks requiring abilities beyond individual robot capabilities
Solution Approach 1:
The patent segments the task execution system into multiple independent robots, each with specific capabilities. The task management unit divides overall tasks into sub-tasks that can be distributed to different robots based on their individual capabilities. This segmentation allows the system to execute complex tasks that require diverse abilities while maintaining relatively simple individual robot designs and coordinated control through the task management unit.
Solution Approach 2:
The system creates a universal task execution framework where multiple robots with different specialized capabilities can collaborate. The task management unit acts as a universal coordinator that can assign tasks to any robot based on current capability assessments. This multi-functional approach enables the system to handle diverse task types using a team of robots with complementary skills, expanding overall task execution capability without requiring each individual robot to possess all abilities.
3Reliability
If robot capability assessment is performed continuously, then the system can adapt to dynamic changes, but the computational load and processing time increase
Solution Approach 1:
The patent implements periodic capability assessment where the ability management unit determines robot capabilities at predetermined time intervals rather than continuously. This periodic approach balances reliability by regularly updating capability information with efficiency by avoiding constant computational overhead. The system updates capability status at structured intervals, ensuring timely adaptation to changes while minimizing processing time and computational load on the control system.
Data Source
AI summary
There is provided a control device, a control method, and a control system that implement a robot that flexibly executes a task in cooperation with another robot, the control device including: an ability management unit that determines capability indicating ability that can be executed by a first robot at predetermined timing as of that timing; a help management unit that compares ability required for a task to be executed by the first robot with the capability of the first robot and generates a help list indicating ability required for execution of the task; and a cooperation management unit that instructs a second robot having the capability that satisfies the ability indicated in the help list to execute the task in cooperation with the first robot.