Method for preventing deadlock of a pair of robots in multi-robot system, involves avoiding deadlock condition during execution of programs by automatically determining and executing deadlock-free motion statement

摘要

The method involves identifying portions of common workspace (10) occupied by robots (6,8), during concurrent execution of programs. The interference region is identified and analyzed, and occurrence of deadlock condition of two robots is identified. The deadlock condition is avoided during execution of programs by automatically determining and executing the deadlock-free motion statement prior to execution of any motion of the robots that results in deadlock condition. An independent claim is included for computer readable media storing program for preventing deadlock of a pair of robots.