ACS / FMS

Deadlock-Free 24/7 Multi-Robot Fleet Management System

Navi-Brain is a multi-robot ACS/FMS that eliminates deadlocks at the source through ETA-based predictive traffic management. It integrates heterogeneous robots on a single platform with a 500+ robot distributed architecture and VDA 5050 standard.

Technical Specifications

Simultaneous Control500+ units (distributed architecture design)

Control ArchitectureZone-based distributed ACS + Handover protocol

Traffic ManagementETA-based predictive deadlock prevention

Path PlanningMAPF (simultaneous space-time search)

Heterogeneous RobotsIntegrated fleet control on the VDA 5050 standard

Equipment IntegrationOPC-UA, Modbus TCP, direct PLC communication

SimulatorNavi-Core Sim, PLC-Sim, accelerated-time simulation

ReliabilityServer redundancy (Active-Standby) + Auto Recovery

500+

Distributed Design Capacity

0deadlocks

ETA-Based Pre-Elimination

24/7

Non-Stop Operation

Key Features

7 features

ETA-Based Deadlock Pre-Elimination

Predicts collision probability via ETA before robots reach intersections and pre-coordinates routes. Intersection waiting is structurally eliminated.

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Industrial MAPF Engine

Time-space simultaneous path search reflecting robot geometry, kinematics, and dynamic obstacles. Academic CBS algorithm adapted for industrial use.

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Multi-Map Fleet Control

Robots can follow routes across maps in a multi-map environment, with the maps connected to one another through Portal nodes. When a robot passes through a Portal node, Map Change and Position Calibration actions run automatically, so position alignment and map switching happen at the same time.

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Smart Integrated Management of Field Equipment and Upper-Level System Integration

Easy integration with upper-level systems and field equipment

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Linear-Scaling Distributed Architecture

Zone-based distributed ACS with Handover protocol ensures linear performance scaling as robot count increases.

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Pre-Deployment Simulator

Fully validate scenarios before deployment with Core-Sim, PLC-Sim, and accelerated simulation. Structurally reduces on-site risk.

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Redundancy + Auto Recovery

Active-Standby server redundancy and auto recovery ensure continued control even during server failure. Eliminates single point of failure.

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ETA Predictive Traffic Management: No Stopping at Intersections

Navi-Brain's traffic management operates on 'when will the robot arrive where' rather than 'where is the robot now'. ETA is calculated reflecting each robot's actual speed and acceleration. Confirmed routes are assigned only up to deadlock-free zones. After the leading robot passes, reserved routes are automatically confirmed so following robots can drive continuously without stopping.

ETA-based deadlock pre-elimination — no intersection waiting
Non-stop guided route assignment with VDA 5050 Base/Horizon
500+ robot linear scaling with zone-based distributed ACS

3D viewer of ETA-predictive traffic management. Each robot’s arrival time at the intersection is computed from its real speed and acceleration to check whether occupancy time windows overlap; if there is no deadlock, the reserved VDA 5050 Base/Horizon segment is promoted to committed as soon as the leading robot is confirmed through, so the following robot crosses the intersection without stopping. It saves about 3.6 s per intersection compared with position-based fleet control, and zone-distributed ACS scales linearly to 500+ robots.

Intersection N-00 reservations

R-01

Margin

1.23s

R-02

R-02′

0 s7 s14 s

① The intersection as a shared resource

The paths of the two robots meet at node N-00. An intersection is a shared resource that only one robot can occupy at a time, and this single point is what traffic management actually has to solve.

Base committed Horizon reserved Position-based stopDrag to rotate · scroll to zoom

3D viewer of MAPF (multi-agent path finding). With 10 robots each heading to its own goal, moving every robot along its own shortest path causes collisions in shared cells. Planning all paths at once lets the robots give way and keep their order, so every robot arrives without collision. The plan on screen is computed live in the browser.

Every robot has somewhere to go

Many robots work in the warehouse at the same time. Each one has a current position and a destination. The dashed lines show each robot’s goal.

Collision ArrivedDrag to rotate · scroll to zoom

MAPF

Product Image

Multi-Map Fleet Control

3D viewer of multi-map fleet control. The elevator on the left and the per-floor maps on the right (1F, 2F, 3F) are placed at matching heights. The robot drives on 1F using MAP-1F, stops using that map the moment it boards the elevator, preloads the destination floor map MAP-3F during the ascent, and on arrival at 3F switches to MAP-3F and restates its coordinates relative to the new origin. The same landing spot reads (0.30, 3.50) in MAP-1F and (15.00, 3.50) in MAP-3F.

R-03 · map in use

MAP-1FMAP-2FMAP-3F

Active

Local

World

E/V-1

① Per-floor maps and the elevator

The elevator is on the left and the per-floor maps are on the right. The 1F, 2F and 3F maps sit at the height of their own floors, and each is a separate map with its own origin and version. The robot uses only one floor map at a time.

Map in use Preload Transition (E/V)Drag to rotate · Scroll to zoom

3D viewer of per-zone map management. The Navi-Brain core on the left manages the maps of five zones. Zones are divided by floor and also within the same floor, and each zone has its own independent map, version and robots. It monitors the map version each robot actually holds and resynchronizes any mismatch; when one zone's map is edited, the new version passes validation and staging and is deployed only to that zone's robots, and if a problem occurs, only that zone is reverted to the previous version.

Navi-Brain · Map registry

ZONE-AMAP-A

ZONE-BMAP-B

ZONE-CMAP-C

ZONE-DMAP-D

ZONE-EMAP-E

① One map per zone

A site is divided by floor, and also into zones within the same floor. 1F west and east, 2F west and east, and all of 3F: each of the five zones is an independent map. Robots move only within their own zone, but all five maps are managed in one place, Navi-Brain.

Synced Edit / validate Deploy Mismatch / anomalyDrag to rotate · Scroll to zoom

Smart Integrated Management of Field Equipment and Upper-Level System Integration

Navi-Brain facility integration 3D viewer. Shows, in order, automatic door opening and closing, elevator calls and floor-to-floor transfer, the hoist loading interlock, charger docking, fail-safe behavior on communication faults, and extension to speed gates, conveyors, fire alarm panels and WMS.

① One broker, one map

Navi-Brain connects automatic doors, elevators, hoists and chargers through a gateway each, and registers every device on the node-link map. Upstream, it integrates with host systems such as WMS, MES and MCS to receive work orders; downstream, it connects directly to the robots. Robots never talk to devices; they only request passage permission from Navi-Brain, so when a device is replaced the only thing that changes is one gateway.

Command State ack (Ack) Alarm · link blockedDrag to rotate · scroll to zoom

Supports seamless integration with upper-level systems such as WMS, MES, and MCS, while letting you easily configure a wide range of field devices — chargers, gates, hoists, and more — by mapping each one 1:1 to a node.

Toggle buttons in the UI make it easy to switch equipment On/Off and manage field equipment availability in real time.
When equipment is deactivated, unnecessary control commands are blocked at the source, improving system stability.
Sends standardized messages over standard protocols such as VDA5050 and OPC-UA.

Heterogeneous AMR Control via Standard Protocols

VDA5050 is a communication standard between AGVs/AMRs and higher-level control systems, established by Germany's VDA and VDMA. As an open, MQTT-based interface, it standardizes driving commands (Order), status (State), and instant commands (InstantAction), so robots from different manufacturers can be controlled the same way from a single fleet management system.

Operates AMRs/AGVs/AFLs from different manufacturers and models simultaneously on a single ACS, eliminating vendor lock-in
Standardized JSON messages such as Order / State / InstantAction / Factsheet eliminate the need for robot-specific integration development
MQTT-based real-time communication — a lightweight Pub/Sub architecture delivers low-latency status collection and command delivery even across large robot fleets
Connects to upper-level systems such as WMS, MES, and ERP through standard interfaces, forming a single workflow from order to transport completion

Full Pre-Deployment Validation with Simulator

Core-Sim allows pre-validation of driving scenarios using actual field maps and robot parameters. PLC-Sim tests facility integration scenarios in advance. Accelerated simulation verifies days of operation patterns within hours, structurally reducing deployment risk.

Core-Sim: scenario validation based on actual map and robot parameters
PLC-Sim: advance validation of facility integration scenarios
Accelerated simulation for early identification of long-term operation patterns
Multi-user simultaneous map editing support

Full Pre-Deployment Validation with Simulator — ① Customer Inputs
We receive the site layout, storage type, throughput, cargo specifications, and equipment and operating conditions. Items whose values are not yet finalized can be provided as ranges.

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