Multirobot plan generation in a continuous domain: planning by use of plan graph and avoiding collisions among robots

Author

Nagata, Takeshi ; Honda, Kazuhiro ; Teramoto, Yoshiaki

Author_Institution

Dept. of Electr. Eng., Kyushu Univ., Fukuoka, Japan

Volume

4

Issue

1

fYear

1988

fDate

2/1/1988 12:00:00 AM

Firstpage

2

Lastpage

13

Abstract

A robot plan-generation system is described that treats continuous state changes over time for multiple robots. A model for a continuous domain is represented, and a parallel plant-generation system, based on production rules for multiple robots in this domain, is proposed. The system consists of a fundamental planning subsystem for multiple robots and a subsystem for detecting and avoiding mutual collisions of cylindrical-type robots, called PLAMAT and SYDAMUC, respectively. In addition to examples for each subsystem, an assembly problem is solved as an example for the total plan-generation system, and the usefulness of the system is confirmed

Keywords

artificial intelligence; graph theory; operations research; robots; PLAMAT; SYDAMUC; artificial intelligence; assembly; collision avoidance; plan graph; robot plan-generation system; Artificial intelligence; Assembly systems; Continuous production; Intelligent robots; Job shop scheduling; Orbital robotics; Parallel robots; Robotic assembly; Space technology; Time factors;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Journal of

Publisher

ieee

ISSN

0882-4967

Type

jour

DOI

10.1109/56.766

Filename

766