Execution of parallel plans for cooperation of a group of robots

Within the given diploma thesis, we decided to implement a coordinated movement of simple Thymio robots on a rectangular grid. We took the abstract plan of the eight puzzle game variant and used it as a basis in the process of forming execution plans. We created an algorithm for transforming abstract plans into execution plans for robots that physically perform the movements of tiles. We added the necessary moves of rotations and hibernation to the abstract plan, taking into consideration the preservation of harmonized execution commands of individual robots, therefore ensuring the safe movement of robot. The Thymio robots were programmed as finite-state automaton through text, using Aseba programming language. The automaton operates in two layers, both globally and locally and responds to events such as detecting proximity of another robot. The global layer ensures the synchronization of abstract plan actions. The local layer executes the actions and responds to environmental changes. The implemented algorithm was evaluated on the tasks of moving up to four robots on grids of size up to 3x3