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Productive Multitasking for Industrial Robots

Wuthier, D. LU ; Rovida, F. LU ; Fumagalli, M. and Krüger, V. LU orcid (2021) 2021 IEEE International Conference on Robotics and Automation, ICRA 2021 In Proceedings - IEEE International Conference on Robotics and Automation 2021-May. p.12654-12661
Abstract

The application of robotic solutions to small-batch production is challenging: economical constraints tend to dramatically limit the time for setting up new batches. Organizing robot tasks into modular software components, called skills, and allowing the assignment of multiple concurrent tasks to a single robot is potentially game-changing. However, due to cycle time constraints, it may be necessary for a skill to take over without waiting on another to terminate, and the available literature lacks a systematic approach in this case. In the present article, we fill the gap by (a) establishing the specifications of skills that can be sequenced with partial executions, (b) proposing an implementation based on the combination of... (More)

The application of robotic solutions to small-batch production is challenging: economical constraints tend to dramatically limit the time for setting up new batches. Organizing robot tasks into modular software components, called skills, and allowing the assignment of multiple concurrent tasks to a single robot is potentially game-changing. However, due to cycle time constraints, it may be necessary for a skill to take over without waiting on another to terminate, and the available literature lacks a systematic approach in this case. In the present article, we fill the gap by (a) establishing the specifications of skills that can be sequenced with partial executions, (b) proposing an implementation based on the combination of finite-state machines and behavior trees, and (c) demonstrating the benefits of such skills through extensive trials in the environment of ARIAC (Agile Robotics for Industrial Automation Competition).

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Please use this url to cite or link to this publication:
author
; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Behavior trees, Finite-state machines, Industrial robots, Intelligent and flexible manufacturing, Robot skill
host publication
2021 IEEE International Conference on Robotics and Automation, ICRA 2021
series title
Proceedings - IEEE International Conference on Robotics and Automation
volume
2021-May
pages
8 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
2021 IEEE International Conference on Robotics and Automation, ICRA 2021
conference location
Xi'an, China
conference dates
2021-05-30 - 2021-06-05
external identifiers
  • scopus:85125442186
ISSN
1050-4729
ISBN
9781728190778
DOI
10.1109/ICRA48506.2021.9561266
project
RobotLab LTH
language
English
LU publication?
yes
id
49bac43c-5564-484a-a1b1-ce60bbb8dc07
date added to LUP
2022-04-13 17:03:18
date last changed
2023-05-05 16:10:09
@inproceedings{49bac43c-5564-484a-a1b1-ce60bbb8dc07,
  abstract     = {{<p>The application of robotic solutions to small-batch production is challenging: economical constraints tend to dramatically limit the time for setting up new batches. Organizing robot tasks into modular software components, called skills, and allowing the assignment of multiple concurrent tasks to a single robot is potentially game-changing. However, due to cycle time constraints, it may be necessary for a skill to take over without waiting on another to terminate, and the available literature lacks a systematic approach in this case. In the present article, we fill the gap by (a) establishing the specifications of skills that can be sequenced with partial executions, (b) proposing an implementation based on the combination of finite-state machines and behavior trees, and (c) demonstrating the benefits of such skills through extensive trials in the environment of ARIAC (Agile Robotics for Industrial Automation Competition).</p>}},
  author       = {{Wuthier, D. and Rovida, F. and Fumagalli, M. and Krüger, V.}},
  booktitle    = {{2021 IEEE International Conference on Robotics and Automation, ICRA 2021}},
  isbn         = {{9781728190778}},
  issn         = {{1050-4729}},
  keywords     = {{Behavior trees; Finite-state machines; Industrial robots; Intelligent and flexible manufacturing; Robot skill}},
  language     = {{eng}},
  pages        = {{12654--12661}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  series       = {{Proceedings - IEEE International Conference on Robotics and Automation}},
  title        = {{Productive Multitasking for Industrial Robots}},
  url          = {{http://dx.doi.org/10.1109/ICRA48506.2021.9561266}},
  doi          = {{10.1109/ICRA48506.2021.9561266}},
  volume       = {{2021-May}},
  year         = {{2021}},
}