Simultaneous task allocation and motion scheduling for complex tasks executed by multiple robots

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00344317" target="_blank" >RIV/68407700:21230/20:00344317 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/20:00344317
Result on the web
<a href="https://doi.org/10.1109/ICRA40945.2020.9197103" target="_blank" >https://doi.org/10.1109/ICRA40945.2020.9197103</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA40945.2020.9197103" target="_blank" >10.1109/ICRA40945.2020.9197103</a>

Result language
angličtina
Original language name
Simultaneous task allocation and motion scheduling for complex tasks executed by multiple robots
Original language description
The coordination of multiple robots operating simultaneously in the same workspace requires the integration of task allocation and motion scheduling. We focus on tasks in which the robot’s actions are not confined to small volumes, but can also occupy a large time-varying portion of the workspace, such as in welding along a line. The optimization of such tasks presents a considerable challenge mainly due to the fact that different variants of task execution exist, for instance, there can be multiple starting points of lines or closed curves, different filling patterns of areas, etc. We propose a generic and computationally efficient optimization method which is based on constraint programming. It takes into account the kinematics of the robots and guarantees that the motions of the robots are collision-free while minimizing the overall makespan. We evaluate our approach on several use-cases of varying complexity: cutting, additive manufacturing, spot welding, inserting and tightening bolts, performed by a dualarm robot. In terms of the makespan, the result is superior to task execution by one robot arm as well as by two arms not working simultaneously.
Czech name
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Czech description
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Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
IEEE International Conference on Robotics and Automation (ICRA)
ISBN
978-1-7281-7395-5
ISSN
1050-4729
e-ISSN
2577-087X
Number of pages
7
Pages from-to
11443-11449
Publisher name
IEEE Xplore
Place of publication
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Event location
Paris
Event date
May 31, 2020
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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