Multi-Robot Task Scheduling for Consensus-Based Fault-Resilient Intelligent Behavior in Smart Factories
In smart factories, several mobile and autonomous robots are being utilized in warehouses to reduce overhead and operating costs. In this context, this paper presents a consensus-based fault-resilient intelligent mechanism called Consensual Fault-Resilient Behavior (CFRB). The proposed approach is b...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-03-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/11/4/431 |
| _version_ | 1797604619191320576 |
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| author | Vivian Cremer Kalempa Luis Piardi Marcelo Limeira Andre Schneider de Oliveira |
| author_facet | Vivian Cremer Kalempa Luis Piardi Marcelo Limeira Andre Schneider de Oliveira |
| author_sort | Vivian Cremer Kalempa |
| collection | DOAJ |
| description | In smart factories, several mobile and autonomous robots are being utilized in warehouses to reduce overhead and operating costs. In this context, this paper presents a consensus-based fault-resilient intelligent mechanism called Consensual Fault-Resilient Behavior (CFRB). The proposed approach is based on three hierarchical plans: imposition, negotiation, and consensus. Fault resilience is achieved using the collective behavior of a multi-robot system that applies ternary decisions based on these plans. The difference between this paper and our previous work is on the consensual level. As it is suitable for the analysis and design of coordinated behavior between autonomous robots, the consensus plan is restructured and enhanced. The proposed approach is tested and evaluated in a virtual warehouse based on a real environment. In addition, it is compared with other current approaches, and the results are presented, demonstrating its efficiency. |
| first_indexed | 2024-03-11T04:49:19Z |
| format | Article |
| id | doaj.art-ab71e08298b342d3ba1ad4552a83df3a |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-11T04:49:19Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-ab71e08298b342d3ba1ad4552a83df3a2023-11-17T20:08:30ZengMDPI AGMachines2075-17022023-03-0111443110.3390/machines11040431Multi-Robot Task Scheduling for Consensus-Based Fault-Resilient Intelligent Behavior in Smart FactoriesVivian Cremer Kalempa0Luis Piardi1Marcelo Limeira2Andre Schneider de Oliveira3Department of Information Systems, Universidade do Estado de Santa Catarina (UDESC), Luiz Fernando Hastreiter St., 180, São Bento do Sul 89283-081, BrazilGraduate Program in Electrical and Computer Engineering, Universidade Tecnológica Federal do Paraná (UTFPR), Av. Sete de Setembro, 3165, Curitiba 80230-901, BrazilGraduate Program in Electrical and Computer Engineering, Universidade Tecnológica Federal do Paraná (UTFPR), Av. Sete de Setembro, 3165, Curitiba 80230-901, BrazilGraduate Program in Electrical and Computer Engineering, Universidade Tecnológica Federal do Paraná (UTFPR), Av. Sete de Setembro, 3165, Curitiba 80230-901, BrazilIn smart factories, several mobile and autonomous robots are being utilized in warehouses to reduce overhead and operating costs. In this context, this paper presents a consensus-based fault-resilient intelligent mechanism called Consensual Fault-Resilient Behavior (CFRB). The proposed approach is based on three hierarchical plans: imposition, negotiation, and consensus. Fault resilience is achieved using the collective behavior of a multi-robot system that applies ternary decisions based on these plans. The difference between this paper and our previous work is on the consensual level. As it is suitable for the analysis and design of coordinated behavior between autonomous robots, the consensus plan is restructured and enhanced. The proposed approach is tested and evaluated in a virtual warehouse based on a real environment. In addition, it is compared with other current approaches, and the results are presented, demonstrating its efficiency.https://www.mdpi.com/2075-1702/11/4/431multi-robot task allocationsmart factorieswarehouse logisticsconsensus |
| spellingShingle | Vivian Cremer Kalempa Luis Piardi Marcelo Limeira Andre Schneider de Oliveira Multi-Robot Task Scheduling for Consensus-Based Fault-Resilient Intelligent Behavior in Smart Factories Machines multi-robot task allocation smart factories warehouse logistics consensus |
| title | Multi-Robot Task Scheduling for Consensus-Based Fault-Resilient Intelligent Behavior in Smart Factories |
| title_full | Multi-Robot Task Scheduling for Consensus-Based Fault-Resilient Intelligent Behavior in Smart Factories |
| title_fullStr | Multi-Robot Task Scheduling for Consensus-Based Fault-Resilient Intelligent Behavior in Smart Factories |
| title_full_unstemmed | Multi-Robot Task Scheduling for Consensus-Based Fault-Resilient Intelligent Behavior in Smart Factories |
| title_short | Multi-Robot Task Scheduling for Consensus-Based Fault-Resilient Intelligent Behavior in Smart Factories |
| title_sort | multi robot task scheduling for consensus based fault resilient intelligent behavior in smart factories |
| topic | multi-robot task allocation smart factories warehouse logistics consensus |
| url | https://www.mdpi.com/2075-1702/11/4/431 |
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