Summary: How to Solve Deadlock Situations within the Plan­Merging Paradigm
for Multi­robot Cooperation \Lambda
S. Qutub, R. Alami, F. Ingrand
LAAS­CNRS
7, Avenue du Colonel Roche, 31077 Toulouse CEDEX 04
E­mail: fsam, rachid, felixg@laas.fr
Abstract
Our motivation in proposing the Plan­Merging
Paradigm as a cooperation scheme was to allow an
efficient distribution of the decisions for a better re­
activity to contingencies for multi­robot applications
with loosely coupled tasks.
The paradigm proved to be quite efficient because it
exploits the fact that most conflicts can be solved lo­
cally and because it allows a finer overlapping between
plan refinement, plan coordination and execution.
However, we would like to have a scheme which dis­
tributes as much as possible the decision processes for
planning and coordination while maintaining two key
features:

Source: Alami, Rachid - Laboratoire d'Analyse et d'Architecture des Systèmes du CNRS

Collections: Engineering; Computer Technologies and Information Sciences