Layered multi-agent coordination

A method includes receiving first and second coordinated paths for first and second robotic devices. The first coordinated path comprises a dependency edge indicating a first position on the first coordinated path and a second position on the second coordinated path. The method also includes determi...

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Bibliographische Detailangaben
Hauptverfasser:	Anderson-Sprecher, Peter, Lalonde, Geoffrey
Format:	Patent
Sprache:	eng
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS HAND TOOLS MANIPULATORS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TRANSPORTING
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Beschreibung
Zusammenfassung:	A method includes receiving first and second coordinated paths for first and second robotic devices. The first coordinated path comprises a dependency edge indicating a first position on the first coordinated path and a second position on the second coordinated path. The method also includes determining a first traversable portion extending to a first stopping position before or at the first position on the first coordinated path. The method also includes providing a first instruction to the first robotic device to traverse the first traversable portion; subsequently determining that the second robotic device has passed the second position on the second coordinated path; determining a second traversable portion of the first coordinated path extending to a second stopping position beyond the first position on the first coordinated path; and providing a second instruction to the first robotic device to traverse the second traversable portion.