TY - GEN
T1 - Abstractions and algorithms for assembly tasks with large numbers of robots and parts
AU - Berman, Spring
AU - Kumar, Vijay
PY - 2009/11/12
Y1 - 2009/11/12
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=70449097601&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70449097601&partnerID=8YFLogxK
U2 - 10.1109/COASE.2009.5234096
DO - 10.1109/COASE.2009.5234096
M3 - Conference contribution
AN - SCOPUS:70449097601
SN - 9781424445783
T3 - 2009 IEEE International Conference on Automation Science and Engineering, CASE 2009
SP - 25
EP - 28
BT - 2009 IEEE International Conference on Automation Science and Engineering, CASE 2009
T2 - 2009 IEEE International Conference on Automation Science and Engineering, CASE 2009
Y2 - 22 August 2009 through 25 August 2009
ER -