Distributed spatial reservation algorithms coordinating two-way mobile robot traffic through narrow, single-lane manufacturing corridors.
In narrow aisles where robots cannot pass side by side, PlantSwarm assigns virtual token locks. Approaching AMRs query the aisle arbiter; the lower-priority or empty vehicle yields at a designated pull-out bay.
If unexpected human blockages create circular wait dependencies, the fleet routing engine detects the topological cycle, commanding one vehicle to execute an autonomous reverse detour to clear the gridlock.