| CPC G05B 19/41895 (2013.01) [G05B 19/4183 (2013.01); G05B 19/41865 (2013.01); G06N 3/08 (2013.01)] | 14 Claims |
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1. A control system configured to control physical entities to complete tasks within a shared environment, the physical entities each having a resource which is consumed during completion of tasks, the shared environment including one or more resupply points for the physical entities to resupply their resource, wherein: (i) each of the physical entities is a robotic system, and the shared environment is a shared workspace of the robotic systems, or (ii) each of the physical entities is an autonomous vehicle, and the environment is a shared operating area of the autonomous vehicles, the control system comprising:
a data storage in which a resource safety model is stored; and
a processor, wherein the processor is programmed to:
obtain a behaviour-selection of a behaviour for each respective physical entity of the physical entities, the behaviour-selection being made as output of a respective task selection model that is provided for the respective physical entity and is trained to select the behaviour from a set of behaviours which includes resource behaviours associated with resupplying the resource and task behaviours associated with selecting and/or completing tasks from a shared task list, each behaviour defining a set of actions to be performed by the respective physical entity;
obtain from the data storage, and execute, the resource safety model which is trained so that the execution of the resource safety model provides a single resource vector representing a prediction of a plurality of resource levels at a select time instant in the future, the plurality of resource levels being of respective ones of the physical entities whose behaviour-selection was obtained, the provision of the single resource vector occurring by a combined input into the resource safety model of:
a previous single resource vector representing the plurality of the resource levels of the physical entities whose behaviour-selections were obtained at a time instant which precedes the selected time instant; and
all of the behaviours selected for all of the physical entities whose behaviour-selections were obtained;
determine whether the resource levels of the physical entities are each predicted to satisfy a safe resource level condition; and
for a respective physical entity of the physical entities which is predicted to have a resource level not satisfying the safe resource level condition, modify or replace the behaviour selected for the respective physical entity in a manner by which the safe resource level condition is satisfied for all of the physical entities.
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