A Supervisory Control-Based Navigation Architecture for Multiple Autonomous Robots in Industry 4.0 Environments

The industry 4.0 paradigm is usually associated with large factories with several smart machines that demand a powerful and versatile connectivity infrastructure. In this context, a single robot is seldom able to deal with the logistics of an entire factory, being necessary the use of multiple robots. Thus, in this paper we extend the DES-based navigation architecture for a single robot, previously proposed in Gonzalez et al (2018), to deal with multiple mobile robots.