Systems and methods for time-based parallel robotic operation

A system comprising:

• a plurality of robotic devices;
• and
• a control system configured to:
• determine time-based sequences of operations for each of the plurality of robotic devices, wherein each of the time-based sequences of operations indicates planned positions of a corresponding robotic device at corresponding timesteps of a global timeline;
• provide instructions to cause parallel execution of the time-based sequences of operations by the plurality of robotic devices;
• determine a deviation of a first robotic device of the plurality of robotic devices from the time-based sequence of operations corresponding to the first robotic device based on sensor data indicative of actual positions of the first robotic device at one or more corresponding timesteps of the global timeline during parallel execution of the time-based sequences of operations;
• in response to determining the deviation of the first robotic device, update the time-based sequence of operations for the first robotic device;
• determine, based on the updated time-based sequence of operations for the first robotic device, a potential collision involving the first robotic device that would result from continued parallel execution of the time-based sequences of operations;
• and
• modify one or more of the time-based sequences of operations to prevent the potential collision.

A non-transitory computer readable medium having stored thereon instructions that, when executed by a computing device, cause the computing device to perform operations comprising:

• determining time-based sequences of operations for each of a plurality of robotic devices, wherein each of the time-based sequences of operations indicates planned positions of a corresponding robotic device at corresponding timesteps of a global timeline;
• providing instructions to cause parallel execution of the time-based sequences of operations by the plurality of robotic devices;
• determining a deviation of a first robotic device of the plurality of robotic devices from the time-based sequence of operations corresponding to the first robotic device based on sensor data indicative of actual positions of the first robotic device at one or more corresponding timesteps of the global timeline during parallel execution of the time-based sequences of operations;
• in response to determining the deviation of the first robotic device, updating the time-based sequence of operations for the first robotic device;
• determining based on the updated time-based sequence of operations for the first robotic device, a potential collision involving the first robotic device that would result from continued parallel execution of the time-based sequences of operations;
• and
• modifying one or more of the time-based sequences of operations to prevent the potential collision.