Modular and Domain-guided Multi-robot Planning for Assembly Processes

Ludwig Nägele, Andreas Schierl, Alwin Hoffmann, Wolfgang Reif

2019

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*.

Paper Citation

in Harvard Style

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, pages 595-604. DOI: 10.5220/0007977205950604

in Bibtex Style

@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},
}

in EndNote Style

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
AU - Nägele L.
AU - Schierl A.
AU - Hoffmann A.
AU - Reif W.
PY - 2019
SP - 595
EP - 604
DO - 10.5220/0007977205950604