Robot Motion Replanning With Local Schedule Conflict Resolution
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Solution Overview
Problem
Existing robotic systems face challenges in efficiently managing conflicts and resource allocation in multi-robot workflows, particularly when real-time feedback requires adjustments to task execution schedules, leading to potential bottlenecks and inefficiencies.
Innovation Solution
A computer-implemented method that allows for real-time re-planning of robotic tasks by generating revised plans based on measured parameters, which can include resource availability and task progress, and adjusts the execution schedule to resolve conflicts by adding dependencies between plans, ensuring smooth operation without requiring complete rescheduling of all plans.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If real-time feedback is implemented to adjust task execution schedules, then operational efficiency is improved, but computational complexity increases
Solution Approach 1:
The patent segments the rescheduling problem into two distinct levels: local plan revision (modifying individual plans based on real-time feedback) and global schedule adjustment (resolving conflicts between plans). This segmentation allows the system to handle real-time feedback efficiently by focusing computational resources on localized revisions rather than complete rescheduling, thus improving operational efficiency while managing computational complexity.
Solution Approach 2:
The patent implements partial rescheduling by only revising affected plans rather than rescheduling the entire schedule when real-time feedback is received. This partial action approach reduces computational complexity significantly while still maintaining operational efficiency by addressing only the necessary portions of the schedule that require adjustment.
2Reliability
If complete rescheduling is performed when conflicts are detected, then schedule consistency is improved, but loss of time increases
Solution Approach 1:
The patent divides the rescheduling process into segmented conflict resolution steps: detecting conflicts, identifying affected plans, revising only those plans, and then adjusting the schedule minimally. This segmented approach maintains schedule consistency through systematic conflict resolution while minimizing the time lost to rescheduling by avoiding unnecessary modifications to unaffected plans.
Solution Approach 2:
The patent performs preliminary conflict detection and analysis before executing the full rescheduling process. By identifying conflicts and determining affected plans in advance, the system can prepare revision strategies beforehand, reducing the actual rescheduling time while ensuring schedule consistency is maintained through thorough preliminary planning.
3Adaptability or versatility
If local revisions are made to plans based on real-time feedback, then adaptability is improved, but device complexity increases
Solution Approach 1:
The patent segments the plan revision process into distinct modules: feedback reception, parameter measurement, speculation point identification, plan revision, and conflict detection. This modular segmentation enhances adaptability by allowing flexible handling of different feedback scenarios while managing system complexity through organized, reusable components that can be independently developed and maintained.
Solution Approach 2:
The patent implements dynamic plan revision where plans are adjusted in real-time based on measured parameters and feedback from the robotic system. This dynamic approach improves adaptability by allowing the system to respond flexibly to changing conditions, while the structured framework for revision keeps system complexity manageable through consistent decision-making rules and automated conflict resolution.
Data Source
AI summary
Systems, methods, devices, and other techniques for planning and re-planning robot motions. The techniques can include obtaining a schedule that defines an execution order for a plurality of plans, each plan defining a sequence of tasks; providing instructions to the robotic system to execute plans from the plurality of plans according to the schedule; obtaining measurements for one or more parameters that represent a state of the robotic system or its environment that results from execution of at least one plan from the plurality of plans; determining, based on the measurements, that a particular plan from the plurality of plans, which has not completed execution, is to be revised; generating, using the measurements, a revised version of the particular plan; and adjusting the schedule so as to resolve a conflict between the revised version of the particular plan and at least one other plan in the plurality of plans.