ﻻ يوجد ملخص باللغة العربية
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for static and dynamic environments and applied to different fields. However, these approaches may not work for the autonomous multi-robot optical inspection system due to fast computation requirements of inline optimization, unique characteristics on robotic end-effector orientations, and complex large-scale free-form product surfaces. This paper proposes a novel task allocation methodology for coordinated motion planning of multi-robot inspection. Specifically, (1) a local robust inspection task allocation is proposed to achieve efficient and well-balanced measurement assignment among robots; (2) collision-free path planning and coordinated motion planning are developed via dynamic searching in robotic coordinate space and perturbation of probe poses or local paths in the conflicting robots. A case study shows that the proposed approach can mitigate the risk of collisions between robots and environments, resolve conflicts among robots, and reduce the inspection cycle time significantly and consistently.
This paper presents a human-robot trust integrated task allocation and motion planning framework for multi-robot systems (MRS) in performing a set of tasks concurrently. A set of task specifications in parallel are conjuncted with MRS to synthesize a
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy applications, w
The presence and coexistence of human operators and collaborative robots in shop-floor environments raises the need for assigning tasks to either operators or robots, or both. Depending on task characteristics, operator capabilities and the involved
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is subject t
This paper considers the problem of multi-robot safe mission planning in uncertain dynamic environments. This problem arises in several applications including safety-critical exploration, surveillance, and emergency rescue missions. Computation of a