ACTOR MODEL BASED ARCHITECTURE FOR MULTI ROBOT SYSTEMS AND OPTIMIZED TASK SCHEDULING METHOD THEREOF

摘要

The present disclosure provides an actor model based multi robot system and optimized task scheduling method in an operating environment. Most existing architectures does not provide dynamic and optimized task allocation methods for multi robot systems with human collaboration. The disclosed architecture of the multi robot system is based on an actor model, where each physical robot has an associated robot actor in the form of a unique single threaded application. The disclosed optimized task scheduling method assigns tasks dynamically by identifying a suitable physical robot or a suitable human operator using a bid value concept and by provides an integrated solution to the problems such as Multi Agent Path Finding (MAPF), Multi Robot Task Coordination (MRTC), and Multi Robot Task decomposition (MRTD) while catering to industry 4.0 operating environments.