Productive Multitasking for Industrial Robots
(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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- author
- Wuthier, D. LU ; Rovida, F. LU ; Fumagalli, M. and Krüger, V. LU
- organization
- publishing date
- 2021
- 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}}, }