Mechanical feasibility and decentralized control algorithms of small-scale, multi-directional transport modules

In this paper, we describe a conveyor matrix consisting of small-scale, multi-directional transport modules that are considerably smaller than the transported packets. If a large number of these modules are combined into a matrix, the emerging network solves transport tasks through cooperation of the modules. The control of the system is decentralized: Each module has its own control and derives its actions only from its own sensor and received messages from neighboring modules. Both the mechanical feasibility of the modules and the control algorithms are presented. We show that collision-free routes can be planned by the decentralized controlled system. Lastly, we present the necessary algorithms to detect and prevent deadlocks.