2023
DOI: 10.1007/s10626-023-00383-x
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Multi-level control for multiple mobile robot systems

Elzbieta Roszkowska,
Piotr Makowski-Czerski,
Lukasz Janiec

Abstract: This paper contributes with a multi-level, hierarchical control system for a fleet of mobile robots sharing a common 2D motion space. The system consists of three levels, with the top level being a supervisor based on a discrete representation of the Multiple Mobile Robot System (MMRS), in which robot motion processes are seen as sequences of stages. The supervisor controls centrally the changes of their stages by robots, ensuring their collision-, and deadlock-free concurrent movement. The intermediate contro… Show more

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