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Task scheduling for dual-arm industrial robots through Constraint Programming

Kvant, Tommy LU (2015) In LU-CS-EX 2015-10 EDA920 20151
Department of Computer Science
Abstract
In a society where more and more production becomes automated it demands
robots that are as flexible and versatile as humans. Such flexibility demands
automatic scheduling of tasks. In this thesis we approach the problem using
Constraint Programming and through a case study we present a model for a
dual-armed robot that is able to deal with a more flexible workload. We also
introduce filters to cut down the runtime of the solver. To evaluate the model
we tested it on 6 solvers; G12/FD, JaCoP, Gecode, or-tools, Opturion CPX
and Choco3. The results show that the model can produce a solution as good
as the one manually implemented for the case study. We introduce filters on
the domains of some of the variables and they made an... (More)
In a society where more and more production becomes automated it demands
robots that are as flexible and versatile as humans. Such flexibility demands
automatic scheduling of tasks. In this thesis we approach the problem using
Constraint Programming and through a case study we present a model for a
dual-armed robot that is able to deal with a more flexible workload. We also
introduce filters to cut down the runtime of the solver. To evaluate the model
we tested it on 6 solvers; G12/FD, JaCoP, Gecode, or-tools, Opturion CPX
and Choco3. The results show that the model can produce a solution as good
as the one manually implemented for the case study. We introduce filters on
the domains of some of the variables and they made an improvement on the
runtime for many of the solvers. We also found that the runtime of the solvers
varied a lot and could range from several hours to just a few milliseconds using
the same data. Unfortunately, in many of the tests the solvers did not complete
their searches within the time limit of 4 hours. In some cases when using
MiniZinc version 2.0.1, the solvers were not able to read the FlatZinc files.
The fastest solver in our tests was Gecode using MiniZinc version 2.0.1. (Less)
Please use this url to cite or link to this publication:
author
Kvant, Tommy LU
supervisor
organization
course
EDA920 20151
year
type
H3 - Professional qualifications (4 Years - )
subject
keywords
Constraint Programming, MiniZinc, JaCoP, G12, Gecode, or-tools, Opturion CPX, Choco3, scheduling, dual-arm robots
publication/series
LU-CS-EX 2015-10
ISSN
1650-2884
language
English
id
5384696
date added to LUP
2015-05-13 09:35:03
date last changed
2015-05-13 09:35:03
@misc{5384696,
  abstract     = {In a society where more and more production becomes automated it demands
robots that are as flexible and versatile as humans. Such flexibility demands
automatic scheduling of tasks. In this thesis we approach the problem using
Constraint Programming and through a case study we present a model for a
dual-armed robot that is able to deal with a more flexible workload. We also
introduce filters to cut down the runtime of the solver. To evaluate the model
we tested it on 6 solvers; G12/FD, JaCoP, Gecode, or-tools, Opturion CPX
and Choco3. The results show that the model can produce a solution as good
as the one manually implemented for the case study. We introduce filters on
the domains of some of the variables and they made an improvement on the
runtime for many of the solvers. We also found that the runtime of the solvers
varied a lot and could range from several hours to just a few milliseconds using
the same data. Unfortunately, in many of the tests the solvers did not complete
their searches within the time limit of 4 hours. In some cases when using
MiniZinc version 2.0.1, the solvers were not able to read the FlatZinc files.
The fastest solver in our tests was Gecode using MiniZinc version 2.0.1.},
  author       = {Kvant, Tommy},
  issn         = {1650-2884},
  keyword      = {Constraint Programming,MiniZinc,JaCoP,G12,Gecode,or-tools,Opturion CPX,Choco3,scheduling,dual-arm robots},
  language     = {eng},
  note         = {Student Paper},
  series       = {LU-CS-EX 2015-10},
  title        = {Task scheduling for dual-arm industrial robots through Constraint Programming},
  year         = {2015},
}