Distributed control of multiple self-moving trays for an intelligent cell production system

We have proposed "Attentive Workbench (AWB)," a new cell production system in which an intelligent system supports human workers. Using cameras, projectors, self-moving trays driven by 2D linear motors and so on, the system recognizes the worker's condition and intention and supports the workers from both physical and informational aspects. In this report, a method for controlling multiple self-moving trays keeping their formation is presented.