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Digital archive of theses discussed at the University of Pisa

 

Thesis etd-11262003-104851


Thesis type
Tesi di laurea vecchio ordinamento
Author
Spensieri, Domenico
URN
etd-11262003-104851
Thesis title
Coordination of Multi-Robot Systems using Supervisory Control and Optimization
Department
INGEGNERIA
Course of study
INGEGNERIA INFORMATICA
Supervisors
relatore Prof. Innocenti, Mario
Keywords
  • Controller Synthesis
  • Discrete Event Systems
  • Flexible Manufacturing Systems
  • Motion Planning
  • Robots Simulation
  • Scheduling
Graduation session start date
18/12/2003
Availability
Full
Summary
In this work the problem of the coordination in industrial multi-robot systems is analyzed, that is to say the coordination of several robots that have to perform different tasks in the same workspace.

A methodology is presented, for off-line coordination of several robots interacting in a 3D environment. In particular, parts of the 3D space in which the robots could collide are found out (mutex zones) and automata models for the robots tasks and for the zones created are built. Then, the tasks for each robot are scheduled in order to minimize the time of execution of all the tasks, preventing collisions and blocking situations. Since the complexity of the problem is very large, automatic procedures are needed. This is done with the help of a software named RobotStudio, provided by ABB Robotics, for three dimensional simulations, and with Supremica, a software program developed at the Department of Signals and Systems at Chalmers University of Technology in Gothenburg, for the analysis of automata and Petri nets.

The main result of the work is the automatic synthesis of a discrete event controller that optimizes the total time of work and guarantees that the multi-robot system is collision free and non-blocking. Future work can regard optimal choice of zones of mutual exclusions and simulations in a parallel environment for the robots.
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