METHOD FOR COORDINATING COOPERATIVE ROBOTS
First Claim
1. A method for coordinating a plurality of cooperative robots, comprising:
- detecting an abnormal event through a sensor;
broadcasting the abnormal event to the cooperative robots;
determining whether a priority of the abnormal event is higher than a priority of a task being currently executed by each robot, wherein if the priority of the abnormal event is higher than the priority of the task being currently executed by the robot, whether function attributes of the robot meet attributes of the abnormal event is then determined, and if the function attributes of the robot do not meet the attributes of the abnormal event, the robot broadcasts to acquire help from other robots to constitute an instantly designated task team, and the instantly designated task team goes to where the abnormal event takes place to process and eliminate the abnormal event; and
dismissing the instantly designated task team and resuming the original tasks of the robots after the abnormal event has been eliminated;
wherein the priority of the abnormal event is calculated according to a dot product of an attribute vector of the abnormal event and a function attribute vector of each robot, the weight of the abnormal event, and a distance between each robot and where the abnormal event takes place, and the priority of the task being currently executed is calculated according to a dot product of an attribute vector of the task being currently executed and the function attribute vector of each robot, the weight of the task, and a distance between each robot and where the task is currently executed.
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Abstract
A method for coordinating cooperative robots is provided. The method includes following steps. An abnormal event is detected by a sensor disposed in an environment or in a robot. The abnormal event is broadcasted to the cooperative robots. Each robot determines whether the priority of the abnormal event is higher than that of its currently executing task. If the answer is “yes,” whether function attributes of the robot meet attributes of the abnormal event is then determined. If the function attributes of the cooperative robot do not meet the attributes of the abnormal event, the robot broadcasts to acquire help from other robots, thereby constituting an instantly designated task team. The instantly designated task team goes to where the abnormal event takes place to process the abnormal event. After the abnormal event has been eliminated, the instantly designated task team is dismissed and these robots resume their original tasks.
19 Citations
17 Claims
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1. A method for coordinating a plurality of cooperative robots, comprising:
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detecting an abnormal event through a sensor; broadcasting the abnormal event to the cooperative robots; determining whether a priority of the abnormal event is higher than a priority of a task being currently executed by each robot, wherein if the priority of the abnormal event is higher than the priority of the task being currently executed by the robot, whether function attributes of the robot meet attributes of the abnormal event is then determined, and if the function attributes of the robot do not meet the attributes of the abnormal event, the robot broadcasts to acquire help from other robots to constitute an instantly designated task team, and the instantly designated task team goes to where the abnormal event takes place to process and eliminate the abnormal event; and dismissing the instantly designated task team and resuming the original tasks of the robots after the abnormal event has been eliminated; wherein the priority of the abnormal event is calculated according to a dot product of an attribute vector of the abnormal event and a function attribute vector of each robot, the weight of the abnormal event, and a distance between each robot and where the abnormal event takes place, and the priority of the task being currently executed is calculated according to a dot product of an attribute vector of the task being currently executed and the function attribute vector of each robot, the weight of the task, and a distance between each robot and where the task is currently executed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for avoiding task conflict among a plurality of cooperative robots, comprising:
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detecting an abnormal event through a sensor; broadcasting the abnormal event to the cooperative robots; increasing the weight of the abnormal event and issuing a broadcast message of the weighted abnormal event through a first robot when the first robot determines that a priority of a task being currently executed by the first robot is equal to a priority of the abnormal event; continuing to execute the task being currently executed through the first robot and receiving the weighted broadcast message of the abnormal event through a second robot; determining whether the priority of the weighted abnormal event is higher than a priority of a task being currently executed by the second robot through the second robot, wherein if the priority of the weighted abnormal event is higher than the priority of the task being currently executed by the second robot, the second robot goes to where the abnormal event takes place and then process the abnormal event;
otherwise, if the priority of the task being currently executed by the second robot is higher than the priority of the weighted abnormal event, the second robot increases the weight of the weighted abnormal event and issues a broadcast message of the twice-weighted abnormal event; and
repeating foregoing steps until a particular robot goes to process the abnormal event;wherein the priority of the abnormal event is calculated according to a dot product of an attribute vector of the abnormal event and a function attribute vector of each robot, the weight of the abnormal event, and a distance between each robot and where the abnormal event takes place, and the priority of the task being currently executed is calculated according to a dot product of an attribute vector of the task being currently executed and the function attribute vector of each robot, the weight of the task, and a distance between each robot and where the task is currently executed. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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Specification