The Decision-Making System for a Multi-Channel Robotic Device Control

Abstract

Nowadays, there is a trend of significant robotic devices functionality increase. Accordingly, the robotic devices can perform more operations and have more new ways to control them. Therefore, in some cases there is a situation when the robotic device receives control commands, i.e. instructions for performing different operations from different alternative control channels. It is a problem of a command selection for execution when different control channels have contradictory information. If there are multiple control channels, which have fundamentally different principle of operation, and multiple commands, which might require the same resources for execution, we need a system that will take into account the specifics of channels and commands, store information about incoming commands and decide which command to execute. In this paper, we will present decision-making system with an internal control conflict resolution mechanism for robotics and the implementation example.