Spatiotemporal controller for controlling robot operation

A method comprising:

• receiving, at a controller of a first robot, a plan comprising a shared resource, a time interval by which the first robot is to access the shared resource, and a precedence order that provides a second robot earlier access to the shared resource than the first robot;
• providing, by operation of the controller, a first set of adjustments to one or more actuators controlling the physical operation of the first robot during a first subinterval of the time interval, the one or more actuators performing a first set of physical operations at a first rate based on the first set of adjustments;
• detecting, by operation of the controller, that the second robot continues to have earlier access to the shared resource at the end of first subinterval as a result of the second robot not having accessed the shared resource by the end of the first subinterval;
• and
• providing, by operation of the controller, a different second set of adjustments to the one or more actuators during a second subinterval of the time interval as a result of the precedence order from the plan continuing to provide the second robot earlier access to the shared resource by the end of the first subinterval, the one or more actuators performing a second set of physical operations at a different second rate based on the second set of adjustments.

A robot actuator controller comprising:

• one or more processors configured to:
• receive a task and a time by which to complete the task;
• determine one or more actuators of a robot associated with execution of the task;
• define a sequence of movements or operations by which the one or more actuators execute the task in the time;
• and
• continually modify control parameters of the one or more actuators at each operational cycle of the controller, wherein the controller executes a plurality of operational cycles in the time, wherein modifying the control parameters comprises adjusting the one or more actuators or commands issued to the one or more actuators at each operational cycle based on successful or unsuccessful execution of a movement or operation by the one or more actuators during at least one previous operational cycle, wherein successful execution comprises the one or more actuators completing the movement or operation from the at least one previous operational cycle prior to a next operational cycle, and wherein unsuccessful execution comprises the one or more actuators not fully completing the movement or operation from the at least one previous operational cycle prior to the next operational cycle.