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Advisor(s)
Abstract(s)
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 faultresilient
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.
Description
Keywords
Multi-robot task allocation Smart factories Warehouse logistics Consensus
Citation
Kalempa, Vivian Cremer; Piardi, Luis; Limeira, Marcelo A.; Oliveira, Andre Schneider (2023). Multi-robot task scheduling for consensus-based fault-resilient intelligent behavior in smart factories. Machines. eISSN 2075-1702. 11:4, p. 1-21
Publisher
MDPI