System and method for coordinated motion among heterogeneous devices

A method of coordinated motion, the method comprising:

• accessing, by a first device, a shared interface shared with a second device;
• requesting a movement token from a token service through the shared interface;
• receiving the movement token from the token service;
• receiving or transmitting first data through the shared interface, the first data comprising one or more of configuration data, kinematic data, and planned motion data;
• planning a first motion for a movable element based on a type of the movement token and the first data, wherein the type of the movement token is selected from a group consisting of an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, and a passive collision-avoidance token;
• and
• executing the first motion according to the type of the movement token.

A coordinated motion system, the system comprising:

• a server comprising a shared interface and a plurality of services accessed through the shared interface, the plurality of services comprising a token service, a publisher service, and a blackboard service;
• a first heterogeneous device coupled to the shared interface and comprising a first movable element;
• and
• a second heterogeneous device coupled to the shared interface and comprising a second movable element;
• wherein the first heterogeneous device is configured to:
• request a first movement token from the token service;
• receive the first movement token from the token service;
• receive first data from the publisher service, the first data comprising one or more of configuration data, kinematic data, and planned motion data for the second movable element;
• plan a first motion for the first movable element based on a type of the first movement token and the first data, wherein the type of the first movement token is selected from a group consisting of an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, and a passive collision-avoidance token;
• and
• execute the first motion according to the type of the first movement token;
• and
• wherein the second heterogeneous device is configured to:
• request a second movement token from the token service, wherein a type of the second movement token is selected from a group consisting of an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, and a passive collision-avoidance token;
• receive the second movement token from the token service;
• transmit the first data to the shared interface using the blackboard service;
• and
• release the second movement token.