Distributed traffic regulation and control for multiple autonomous mobile robots operating in discrete space

A fully distributed algorithm is presented, which when executed by each robot, collectively allows multiple autonomous mobile robots to travel through a discrete traffic network composed of passage segments, intersections, and terminals, all of which are of only finite capacity. Each robot may establish dynamically its own route not known to others. Treating passage segments, intersections and terminals as shared, discrete resources, the algorithm guarantees ordered traffic flow in a discrete network such that (i) finite capacity constrains of passage segments and terminals are always enforced; (ii) no collision occurs at any intersection; (iii) deadlocks are detected and resolved. The system operates under the model of Distributed Robotic Systems (DRS), assuming no centralized mechanism, synchronized clock, shared memory or ground support. Interrobot communication is only required among spatially adjacent robotic units. The algorithm is implementable with today's technology.