Abstractions and algorithms for assembly tasks with large numbers of robots and parts

Spring Berman, Vijay Kumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We present a decentralized, scalable approach to designing a reconfigurable manufacturing system in which a swarm of robots assembles heterogeneous parts into target amounts of products. The sequence of part assemblies is determined by interactions between robots in a decentralized manner in real time. Our methodology is based on deriving a continuous abstraction of the system from chemical reaction models and formulating the strategy as a problem of selecting rates of assembly and disassembly. The rates are mapped onto probabilities that define stochastic control policies for individual robots, which then produce the desired aggregate performance. We illustrate our approach using a physics-based simulator with examples involving 15 robots and two types of final products.

Original languageEnglish (US)
Title of host publication2009 IEEE International Conference on Automation Science and Engineering, CASE 2009
Pages25-28
Number of pages4
DOIs
StatePublished - Nov 12 2009
Externally publishedYes
Event2009 IEEE International Conference on Automation Science and Engineering, CASE 2009 - Bangalore, India
Duration: Aug 22 2009Aug 25 2009

Publication series

Name2009 IEEE International Conference on Automation Science and Engineering, CASE 2009

Other

Other2009 IEEE International Conference on Automation Science and Engineering, CASE 2009
CountryIndia
CityBangalore
Period8/22/098/25/09

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Computer Science Applications
  • Software

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