Deadlock resolution in distributed autonomous robotic system with hand-to-hand motion

Abstract

This paper deals with an approach for resolving deadlock conditions in the case of carrying loads by distributed autonomous robotic system such as the cellular robotic system (CEBOT). Deadlock condition occurs when a large number of robots carry loads autonomously. Therefore, we propose to introduce cooperative hand-to-hand motion into the distributed autonomous robotic system to resolve the deadlock conditions using only partial local information. Through the simulation results, we show the effectiveness of hand-to-hand motion and consider influences of environmental characteristics.