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This paper presents a dynamic routing method for supervisory control of multiple automated guided vehicles (AGVs) that are traveling within a layout of a given warehouse. In dynamic routing a calculated path particularly depends on the number of currently active AGVs' missions and their priorities. In order to solve the shortest path problem dynamically,(More)
In this paper, we introduce machine-job incidence (MJI) matrix that can be obtained from Steward sequencing matrix and Kusiak machine-part incidence matrix. Methods for determination of structural properties of free-choice multiple reentrant systems (FMRF) are proposed and an explanation on how the content (number of active jobs) of those structures can be(More)
In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known that finding such an optimal policy is a NP-hard task in general case. Therefore, big part of the research is oriented towards finding various(More)
In this paper we propose an algorithm for decentralized control of Automated Guided Vehicles (AGVs) operating in automated warehouse environments. The motion planning part of the algorithm provides vehicles with capabilities for autonomous motion planning considering nonholonomic vehicle constraints and collision-free path execution. The decision making(More)
This paper presents the results of our efforts to build a heterogeneous robotic system capable of executing complex disaster response and recovery tasks. We aim to explore high level task scheduling and mission planning algorithms that enable various types of robots to cooperate together, utilizing each others strengths to yield a symbiotic robotic system.(More)
Current studies of anuran morphology use sacral vertebrae, hindlimbs as main predictor for locomotor modes, while forelimbs and their segments were not analysed in this context. Due the fact that the complex interplay of numerous morphological traits determines the locomotion ability of anurans, we used ratios for both fore- and hindlimbs to obtain useful(More)
Resource allocation systems are used for modeling and control of flexible manufacturing systems, multi-vehicle systems, traffic networks, etc. Methods for control of these systems are often based on the identification of a special structural property, simple circular wait of resources, and interrelations between simple circular waits. In this paper we study(More)
In this paper we study control of reconfigurable multi-vehicle system. Our method builds upon an existing deadlock-free resource allocation control method that is based on the identification of higher-level deadlocks. We identify a smaller set of cyclic circular waits to be controlled, and provide an algorithm for determination of such cyclic circular(More)
This paper presents an extension of previously introduced method for manufacturing systems analysis and design based on so called Machine-Job Incidence matrix. Static model of a manufacturing system is augmented by introduction of timed machine-job incidence matrix that is comprised of operational times required for jobs in the system to be completed as(More)
In this paper we present a study of a robotic system that consists of an unmanned aerial vehicle equipped with a pair of manipulator arms (MMUAV), and unmanned ground vehicles (UGVs). The envisioned application scenario includes autonomous packet transportation, where MMUAV is used for picking/placing packets, while both MMUAV and UGV can be used for packet(More)