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| DOI：10.1007/s11768-010-9193-9 |
| Received:September 09, 2009Revised:September 18, 2009 |
| 基金项目:the Army Research Office (ARO) (DAAD 19-02-1-0366, ARO W91NF-05-1-0314), the National Science Foundation |
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| Deadlock-free dynamic resource assignment in multi-robot systems with multiple missions: Application in Wireless Sensor Networks |
| P. M. BALLAL,,A.C.TRIVEDI,V. GIORDANO,J.MIRELES Jr.,F. L. LEWIS |
| (Automation & Robotics Research Institute) |
| Abstract: |
| In unstructured environments, dynamic resource assignment is required for effective cooperation of robot
teams. In some scenarios, robots are in charge of executing multiple missions simultaneously. This creates risks of deadlock
due to the presence of shared resources among various missions. The main contribution of this paper is the development of
a novel approach that combines the one-step look-ahead deadlock avoidance policy with dynamic resource assignment. The
dynamic resource assignment is achieved using greedy resource assignment for multi-mission robot teams in the framework
of a matrix-based discrete event controller. Simulation results are presented in MATLAB°R to discuss in detail the proposed
control strategy. The paper also discusses the toolkit developed in LabVIEW°R which is used to implement this control
framework using a suitable example. |
| Key words: Discrete event systems Wireless sensor networks Deadlock avoidance Petri nets |
