The deadlock avoidance method based on Leader-Follower relations among multiple robots in large-scale structure assembly

This paper proposes the deadlock avoidance method where two robots that have different roles move together as on one set and change their roles between robots, and aims at investigating its effectiveness through simulation on constructing Space Solar Power Satellite (SSPS). Intensive simulations have revealed the following implications: (1) our proposed method enables robots to get out of deadlock situations and contributes to reducing the steps to assemble large-scale structure; and (2) the method is robust to the shape of the structure.