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Authors: Ludwig Nägele ; Andreas Schierl ; Alwin Hoffmann and Wolfgang Reif

Affiliation: Institute for Software & Systems Engineering, University of Augsburg, 86159 Augsburg and Germany

Keyword(s): Multi-robot Systems, Robotic Assembly, Process Planning.

Related Ontology Subjects/Areas/Topics: Computer-Based Manufacturing Technologies ; Industrial Automation and Robotics ; Industrial Engineering ; Informatics in Control, Automation and Robotics ; Production Planning, Scheduling and Control

Abstract: Smart factories of the future will be equipped with dynamic and task-specific teams of robots in order to manufacture custom-tailored products. For this, it is necessary to facilitate the planning of appropriate task sequences for cooperating robots. In this paper, we introduce a modular and domain-guided planning approach for multiple robots. Due to its modularity, the approach can be adapted to different assembly problems. Moreover, domain knowledge is used to guide the planning towards feasible solutions. We evaluate the approach with different examples from the blocks world domain (i. e. LEGO® DUPLO® ). This evaluation shows that this domain-guided approach outperforms classical planning based on state space search such as A*.

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Paper citation in several formats:
Nägele, L.; Schierl, A.; Hoffmann, A. and Reif, W. (2019). Modular and Domain-guided Multi-robot Planning for Assembly Processes. In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-380-3; ISSN 2184-2809, SciTePress, pages 595-604. DOI: 10.5220/0007977205950604

@conference{icinco19,
author={Ludwig Nägele. and Andreas Schierl. and Alwin Hoffmann. and Wolfgang Reif.},
title={Modular and Domain-guided Multi-robot Planning for Assembly Processes},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2019},
pages={595-604},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007977205950604},
isbn={978-989-758-380-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Modular and Domain-guided Multi-robot Planning for Assembly Processes
SN - 978-989-758-380-3
IS - 2184-2809
AU - Nägele, L.
AU - Schierl, A.
AU - Hoffmann, A.
AU - Reif, W.
PY - 2019
SP - 595
EP - 604
DO - 10.5220/0007977205950604
PB - SciTePress

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