Spatial deadlocks in task-level planningWe will formulate the problem of resolving spatial (space occupancy and support-stability) interactions in terms of tools developed in Operating Systems for the problems of deadlocks and synchronization. We show how to construct state graphs and to detect resource contentions and deadlocks from these state graphs. We describe an algorithm, called CONTAC, to deal with deadlocks where 'processes' represent the ordered motions of parts. The algorithm is a monitor-like process using preventative preemptive protocol to resolve higher-degree deadlocks. We develop the representation for knowledge about current allocations, pending requests, and synchronization constraints, to generate a contention-free sequence of actions. In this paper we focus on modeling deadlocks which are manifestations of spatial interactions.
Document ID
19930065361
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Doshi, Rajkumar S. (JPL, Pasadena, CA; Minnesota Univ. Minneapolis, United States)
Gini, Maria (Minnesota Univ. Minneapolis, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1991
Publication Information
Publication: In: Intelligent robotics; Proceedings of the International Symposium, Bangalore, India, Jan. 2-5, 1991 (A93-49350 21-63)