Situation specific tutorial development for the intervention of mobile robots

The application of mobile cobots in industrial environments, alongside humans, has gained importance. However, these complex systems often operate in intricate environments, which can lead to deadlock situations. In such situations, the mobile robot cannot free itself and complete its task. Therefore, a human intervention is required to rescue the robot. Unfortunately, the available personnel may not have the necessary robotic expertise to do so. As a result, they require some form of support, such as situation-specific tutorials. To provide such support, possible deadlock situations need to be identified, and appropriate intervention strategies must be developed. This paper describes the process of identifying deadlock situations based on an analysis of several mobile robot operations, platform analysis, and expert interviews. Furthermore, the paper details the development of intervention strategies for these identified deadlock situations. By modularizing these strategies, the effort required for establishing new intervention strategies and later implementation can be reduced.