Integrating robotic assembly planning and scheduling: a two-dimensional view

A unified framework is proposed for constructing embedded robotic assembly systems that integrate plan generation and plan execution (scheduling). The salient feature of this framework is that robotic assembly planning and scheduling are organized into two orthogonal problem-solving processes that can be carried out in two distinctive modes: an interleaved or a temporarily separated manner. The utility and advantages of this two-dimensional framework are demonstrated in the context of a fully integrated planning and scheduling system which has been implemented and tested in the domain of robotic assembly