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

Spring Berman; Vijay Kumar

doi:10.1109/COASE.2009.5234096

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

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	2009 IEEE International Conference on Automation Science and Engineering, CASE 2009
Pages	25-28
Number of pages	4
DOIs	https://doi.org/10.1109/COASE.2009.5234096
State	Published - Nov 12 2009
Externally published	Yes
Event	2009 IEEE International Conference on Automation Science and Engineering, CASE 2009 - Bangalore, India Duration: Aug 22 2009 → Aug 25 2009

Publication series

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

Other

Other	2009 IEEE International Conference on Automation Science and Engineering, CASE 2009
Country	India
City	Bangalore
Period	8/22/09 → 8/25/09

ASJC Scopus subject areas

Computer Networks and Communications
Computer Science Applications
Software

Access to Document

10.1109/COASE.2009.5234096

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Abstractions and algorithms for assembly tasks with large numbers of robots and parts. / Berman, Spring; Kumar, Vijay.

2009 IEEE International Conference on Automation Science and Engineering, CASE 2009. 2009. p. 25-28 5234096 (2009 IEEE International Conference on Automation Science and Engineering, CASE 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Berman, S & Kumar, V 2009, Abstractions and algorithms for assembly tasks with large numbers of robots and parts. in 2009 IEEE International Conference on Automation Science and Engineering, CASE 2009., 5234096, 2009 IEEE International Conference on Automation Science and Engineering, CASE 2009, pp. 25-28, 2009 IEEE International Conference on Automation Science and Engineering, CASE 2009, Bangalore, India, 8/22/09. https://doi.org/10.1109/COASE.2009.5234096

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