In this paper, we consider the multi-robot path execution problem where a group of robots move on predefined paths from their initial to target positions while avoiding collisions and deadlocks in the face of asynchrony. We first show that this problem can be reformulated as a distributed resource allocation problem and, in particular, as an instance of the well-known Drinking Philosophers Problem (DrPP). By careful construction of the drinking sessions capturing shared resources, we show that any existing solutions to DrPP can be used to design robot control policies that are collectively collision and deadlock-free. We then propose modifications to an existing DrPP algorithm to allow more concurrent behavior, and provide conditions under which our method is deadlock-free. Our method do not require robots to know or to estimate the speed profiles of other robots, and results in distributed control policies. We demonstrate the efficacy of our method on simulation examples, which show competitive performance against the state-of-the-art.

中文翻译：

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从饮酒哲学家到流浪机器人

在本文中，我们考虑多机器人路径执行问题，其中一组机器人在预定义的路径上从其初始位置移动到目标位置，同时避免在异步情况下发生碰撞和死锁。我们首先表明，这个问题可以重新表述为分布式资源分配问题，特别是作为著名的饮酒哲学家问题 (DrPP) 的一个实例。通过精心构建捕获共享资源的饮酒会话，我们表明任何现有的 DrPP 解决方案都可用于设计集体碰撞和无死锁的机器人控制策略。然后，我们建议修改现有的 DrPP 算法以允许更多的并发行为，并提供我们的方法无死锁的条件。我们的方法不需要机器人知道或估计其他机器人的速度曲线，并导致分布式控制策略。我们证明了我们的方法在模拟示例上的有效性，这些示例显示了与最先进技术相比的竞争性能。