Distributed Supervisory Control for multiple Robot Autonomous Navigation Performing Single-Robot Tasks

Simulations

One Robot

Centralized Planning Approach

Monolithic



Modular



Local Modular



Reduced Monolithic



Reduced Modular



Reduced Local Modular

Distributed Planning Approach

Supervisor Localization

Three Robots

Centralized Planning Approach

Reduced Local Modular

Distributed Planning Approach

Scalable Supervisor Localization

Six Robots

Distributed Planning Approach

Scalable Supervisor Localization

Experiments

One Robot

Centralized Planning Approach

Monolithic



Modular



Local Modular



Reduced Monolithic



Reduced Modular



Reduced Local Modular

Distributed Planning Approach

Supervisor Localization

Three Robots

Centralized Planning Approach

Reduced Local Modular

Distributed Planning Approach

Scalable Supervisor Localization

Six Robots

Distributed Planning Approach

Scalable Supervisor Localization