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

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/68407700:21730/20:00344317

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2020

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

IEEE International Conference on Robotics and Automation (ICRA)

ISBN

978-1-7281-7395-5

ISSN

1050-4729

e-ISSN

2577-087X

Počet stran výsledku

7

Strana od-do

11443-11449

Název nakladatele

IEEE Xplore

Místo vydání

—

Místo konání akce

Paris

Datum konání akce

31. 5. 2020

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—