Abstract
The author investigates parallel deadlock detection and resolution in a multiple robot system. The deadlock is a typical problem in real-time assembly using robots. The wait-for-graph (WFG) is generated by using a defined job scheduling graph (JSG) which represents a partial ordering of processes of multiple robots for as specified job in computer integrated manufacturing (CIM). A deadlock detection method by hypercube parallel processing is presented. The deadlock detection is based on relaxed squashed embedding-that is, adjacent nodes of the WFG exist in the adjacent subcube. A strategy of deadlock resolution inherent in the multiple robot system is presented. >
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