Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001
If only a single robot may be used in a workcell, then bottlenecks will soon arise. When two robots are placed in close proximity, they can produce more bottlenecks, thus they must be given some scheme for avoiding each other. If these robots are to cooperate then a complete and integrated cooperation strategy is required. These strategies require some sort of status link between both manipulators. To make sense of the status of the other robot, it is also necessary to have algorithms for path planning in the Deterministic environment. This algorithm relies upon a proper moving obstacle path planning scheme being developed first. It is possible to use assumptions, or an engineered environment to allow robot coordinations, without the extensiveness of a complete coordination algorithm.
Figure 2.7 Multi-Robot WorkSpaces
