Deadlock Avoidance Policy in Mobile Wireless Sensor Networks with Free Choice Resource Routing

[摘要] Efficient control schemes are required for effective cooperation of robot teams in a mobile wireless sensor network. If the robots (resources) are also in charge of executing multiple simultaneous missions, then risks of deadlocks due to the presence of shared resources among different missions increase and have to be tackled. Discrete event control with deadlock avoidance has been used in the past for robot team coordination for the case of multi reentrant flowline models with shared resources. In this paper we present an analysis of deadlock avoidance for a generalized case of multi reentrant flow line systems (MRF) called the Free Choice Multi Reentrant Flow Line systems (FMRF). In FMRF, some tasks have multiple resource choices; hence routing decisions have to be made and current results in deadlock avoidance for MRF do not hold. This analysis is based on the so-called Circular Waits (CW) of the resources in the system. For FMRF, the well known notions of Critical Siphons and Critical Subsystems must ...

[学科分类] 自动化工程

[关键词] Deadlock Avoidance;Petri nets;Discrete Event Systems;MRF;FMRF;Intelligent Control;WSN;mobile robots;robot sensors