Multiple service robot synchronization and control with surveillance system assistance for confined indoor area applications

This paper proposes an efficient navigation control and synchronization mechanism of multiple networked robots for operation in large confined areas. An adaptable grid based navigation and control strategy is adopted to eliminate potential collisions among robots. Unexpected obstacles are handled and the speed of individual robot is maintained using the node-ordering technique. The proposed navigation control and synchronization mechanism is scalable and can be easily extended to multi-cell large environment. The obstacles information is gathered through local information by the robots for better planning of the navigation. The system collaborates with the existing surveillance systems in case of additional visual information is necessary. The interaction with the surveillance system is minimized to reduce potential overhead.