Deadlock free dynamic resource assignment in multi-robot systems with multiple missions: a matrix-based approach

Effective cooperation of robot teams in unstructured environments requires dynamic resource assignment. If the robots are also in charge of executing multiple simultaneous missions, then risks of deadlocks due to the presence of shared resources among different missions have to be tackled. This paper presents a novel approach to combine together a one step-ahead deadlock avoidance policy with a greedy dynamic resource assignment for multi-mission robot teams in the framework of a matrix based discrete event controller. Simulation results in Matlabreg are presented to discuss in detail the proposed control strategy