Title :
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
fDate :
2/1/1988 12:00:00 AM
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;
Journal_Title :
Robotics and Automation, IEEE Journal of
