发表机构
TU Dortmund University; Fraunhofer Institute for Software and Systems Engineering ISST; RWTH Aachen University（多特蒙德工业大学; 弗劳恩霍夫软件与系统工程研究所; 亚琛工业大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对AGV车队局部异常导致全局停机的低效问题，提出死区局部隔离机制，通过基本处理和带逃逸绕行两种策略，在保证无碰撞与有界延迟下减少停机，实验验证了吞吐量权衡。
AI 中文摘要
在生产与物流环境中的自动导引车（AGV）车队依赖系统级紧急停止来处理局部异常，如故障、危险或污染区域。虽然这种方式安全，但即使仅小面积区域受影响，也会导致整个车队停运，造成不必要的停机时间。本文提出死区——一种形式化定义的局部隔离方法，作为在不需要完全系统级停止情况下的额外故障可操作机制。死区不是关闭整个车队，而是隔离异常区域，使未受影响的机器人能够继续正常运行。我们引入了两种操作策略：基本死区处理，即受影响的机器人进入死区并停止；以及带逃逸的死区处理，即距离死区足够远的机器人绕行该区域。对于逆时针轨迹上的逃逸，我们证明了在所有逃逸机器人之间保持最小成对间距的前提下，所有逃逸机器人具有有界到达延迟的无碰撞性。实验评估证实了理论保证，并刻画了三种方法（完全紧急停止、基本死区处理和带逃逸的死区处理）之间的吞吐量权衡。
英文摘要
Automated Guided Vehicle (AGV) fleets in production and logistics environments rely on a system-wide emergency stop to handle local anomalies such as malfunctions, hazards, or contaminated areas. While safe, this approach halts the entire fleet even when only a small area is affected, causing unnecessary downtime. This paper proposes dead zones --- a formally defined localized isolation approach that serves as an additional fail-operational mechanism for situations where a full system-wide halt is not strictly needed. Rather than shutting down the entire fleet, a dead zone isolates the anomalous area, allowing unaffected robots to continue operating normally. We introduce two operational strategies: basic dead zone handling, in which affected robots enter a dead zone and stop, and dead zone handling with escaping, in which robots that are sufficiently far from a dead zone reroute around it. For escaping on counterclockwise trajectories we prove collision-freedom with a bounded arrival delay for all escaping robots, provided a minimum pairwise separation is kept between robots. Experimental evaluation confirms the theoretical guarantees and characterizes the throughput tradeoffs between all three approaches: full emergency stop, basic dead zone handling, and dead zone handling with escaping.
