In this paper, we propose a decentralized model and control framework for the assignment and execution of tasks, i.e. the dynamic task planning, for a network of heterogeneous robots. The proposed modeling framework allows the design of missions, defined as sets of tasks, in order to achieve global objectives regardless of the actual characteristics of the robotic network. The concept of skills, defined by the mission designer and considered as constraints for the mission execution, is exploited to distribute tasks across the robotic network. In addition, we develop a decentralized control algorithm, based on the concept of skills for decoupling the mission design from its deployment, which combines task assignment and execution through a consensus-based approach. Finally, conditions upon which the proposed decentralized formulation is equivalent to a centralized one are discussed. Experimental results are provided to validate the effectiveness of the proposed framework in a real-world scenario.

http://users.ba.cnr.it/dipaola/papers/DiPaola-AutonRobot_2015.pdf

Decentralized dynamic task planning for heterogeneous robotic networks

The paper presents a design methodology for coordination algorithms which enhance the overall autonomy of a mission system by synchronizing the functionalities of the subsystems through shared resources including space. The planning and the event-driven aspects of the mission control problem are solved by prebooking and scheduling of requests for resources. The algorithm is represented as Petri net, implemented in a mission test bed and applied for multiple hoist scheduling in manufacturing.

Mission control by coordinating shared resources

This paper addresses the cyclic multi-hoist scheduling problem. The problem arises in automated electroplating lines where multiple hoists are operating on a shared track. The considered processing sequences may be different from the location sequence of the tanks and may contain loops, i.e. multiple usages of single tanks within a sequence. In addition the electroplating line may be equipped with identical tanks used as parallel resources. A mixed integer linear programming (MILP) formulation for optimizing the cycle time is developed considering in particular collisions of hoists, loops in the process sequence and parallel tanks. The developed model is tested and evaluated using a real world example indicating that the presented solution finds optimal cyclic schedules in reasonable time.

Optimal cyclic multiple hoist scheduling for processes with loops and parallel resources

This paper presents an algorithm for controlling the collision avoidance for surgical tools attended to our Minimally Invasive Surgical Robotic system. In our previous work, we have designed and developed Minimally Invasive Surgical Robotics System, MU-LapaRobot for the laparoscopic surgical application. The MU-LapaRobot is designed with mechanically constraint its motion through a small incision point, called remote-center of motion (RCM). The MU-LapaRobot is an active surgical tool holder aimed to use with standard surgical tools based on the collaborative robotic concept. This study is focusing on speed control of the robot initiate once the attached surgical tools are inserted into patient's body. The motions are controlled based on the operating regions according to the Euclidean distances and overlap workspace between tools and environment. The control is off once the attached surgical tools are retracted out of the patient's body. The algorithm is relied on the different regions around the operating regions. The motions (translation and rotation) of MU-LapaRobot are improved in its performance, especially, on its higher accuracy and stability without tremor in the operating area after employing our speed control algorithm.

http://bartlab.org/dr. jackrit's papers/international proceedings/euclidean distance and workspace region based control algorithm for collision avoidance in a laparoscopic surgical robot mu-laparobot.pdf

Euclidean distance and workspace region based control algorithm for collision avoidance in a laparoscopic surgical robot: MU-LapaRobot

A combined event- and plan-driven scheduling algorithm for cyclic flow shops is presented. It centres around a special shortest-interval-priority rule and the event horizon. The search process is modelled as a discrete event oscillator which settles on a stationary solution after a short transient time. The solution dynamics are made visible on a Gantt chart. The optimality of the method has been verified through a well known scheduling benchmark. The presented method is advantageous over most other approaches as it enables non stationary schedules.

Event-driven Generation of Periodic Hoist Schedules

We describe a generic routing controller for nonlinear flow shops, and the respective design and verification tool based on coloured timed Petri nets. The design methodology integrates logical and performance-related control for discrete event systems by introducing a time invariant process V. V stands for the cycle time of a repetitive production system and for the stationary sequence of transport and move operations. Application site is a complex plant with 26 sequential/parallel workstations and process plans of 28 operations including multiple loops. The transport system is the bottleneck resource performing as a non-linear GMEC (general mutual exclusion constraint) on plant behaviour

Designing transitory routing controllers for hybrid plants

We present a deterministic scheduling approach for cyclic flow shops based on a n-dimensional collision map, and compare it to discrete event simulation. The map facilitates the optimisation of process release times for periodic and non periodic schedules. The method rests upon the finding that the release intervals of processes to the shop and the correlation lengths of robot operations inside the shop are identical. For zero correlation, collisions of robot operations are avoided.

Auto Correlation and Collision Avoidance in Robotic Flow Shops

Curable acrylate ester compositions having as an accelerator for the polymerization a hydrazine derivative of the formula R1-HN-NH-CO-R2. Typical of the monomers are the polyalkylene-glycol dimethacrylates and the so-called urethane acrylates. Polymerization is preferably initiated by a peroxy compound such as cumene hydroperoxide, such a composition having anaerobic curing characteristics.

Dynamic Load Balancing of Cycle Shops Based on Correlation Functions.

For the large class of process plans which include transport loops and multi purpose machines, we analyze the deadlock behavior and provide control structures to cope with blocking of production lines. We present a modular approach to deadlock control based on Petri net representations. By synthesizing large systems from generic plant and control modules, a great range of practically important scheduling tasks can be solved which theoretically are NP-hard. The approach is applied to large industrial settings of 25 machines arranged in several loops and multi loops.

On the origin of deadlocks in robotic cycle shop control

Collaboration among operations of several space-time processes is formalized by an analytical expression. For factory scheduling and mission control, time based and event driven approaches are compared based on a unified Petri net representation and implemented as a tool for industrial use.

Collaboration and Collision Functions for Plan-Based and Event-Driven Mission Control

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