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By Samuel Eilenberg

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Clearly we have added a second robot to the system. But did we actually add resources, or just move them around? The Steerer gets the rotation subsystem from our single-robot strategy; the Pusher gets the translation subsystem. The Steerer gets the path information; the Pusher gets the alignment subsystem (a relative orientation sensor and rotation capability). So we did add a resource! Both the Pusher and Steerer need to rotate. The Pusher/Steerer system consists of a redistribution of the resources of the single-robot manipulation system described above, plus one rotate motor.

In-doors) composed of lanes (corridors), crossings and open areas (rooms). Typical applications of this problem are load transshipment as dealt with in the MARTHA project 1 which focused on the development of a large fleet of autonomous mobile robots for the transportation of containers in harbors, airports and marshaling yards environments. The Plan-Merging Paradigm we propose is well suited to such applications as it allows to deal with a great number of robots, treating conflicts locally (whenever it is possible) and in a decentralized manner while maintaining a global coherence of the system.

T> Q u a n t i t a t i v e R e s u l t s : We here below some measures :from an experiment where the 3 Hilare robots execute each navigation missions during 2 hours! Each robot traveled about 600 meters in a 70 square meters environment. 1381 messages were exchanged: • 473 broadcasts for plan merging, • 533 plans exchanged, • 125 messages for execution synchronization (at trajectory level), 7 messages for execution synchronization (at cell level). During all these missions several types of conflicts have been encountered and solved: 18 conflicts for simultaneous PMO for common resources, 72 messages to re-synchronize the PMO, 71 messages to update the deadlock detection graph.

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