Robustness of deadlock avoidance in assembling large-scale structure by multiple robots having trouble and individual differences

This paper investigates the effectiveness of our proposed deadlock avoidance method through the space solar power satellite assembling simulation which is extended into the real-valued environment. For this purpose, we conduct the simulations in following three cases: (i) the discrete environment where the movement of each robot is based on the same discrete speed; (ii) the trouble environment where the speed of some robots is slow as the fault; and (iii) the individual difference environment where the speeds of all robots are different each other as the individual difference. Intensive simulations have revealed the following implications: (1) the individual difference environment enables the robots to get out deadlock situation easier than the discrete environment; (2) the robots achieve the more efficient assembly when the speeds of all robots are different each other than the discrete or the fault cases; and (3) our deadlock avoidance method is robust to the fault or individual differences of robots.