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An Interleaved Approach to Trait-Based Task Allocation and Scheduling [article]

Glen Neville, Andrew Messing, Harish Ravichandar, Seth Hutchinson, Sonia Chernova
2021 arXiv   pre-print
for the time taken to execute motion plans.  ...  Specifically, heterogeneous multi-robot systems must answer three important questions: who (task allocation), when (scheduling), and how (motion planning).  ...  ITAGS computes an allocation of robots to tasks while simultaneously optimizing the satisfaction of task requirements and the makespan (i.e. execution time) of the associated schedule.  ... 
arXiv:2108.02773v1 fatcat:5sfehws33rdw7b4ljklyrzjwzu

A Constraint Programming Approach to Simultaneous Task Allocation and Motion Scheduling for Industrial Dual-Arm Manipulation Tasks

Jan Kristof Behrens, Ralph Lange, Masoumeh Mansouri
2019 2019 International Conference on Robotics and Automation (ICRA)  
We like to thank the researchers of the Robotic perception group (ROP) at the Czech Institute of Informatics, Robotics and Cybernetics (CIIRC CTU) for providing the KUKA simulation environment.  ...  This work is partially supported by the Swedish Knowledge Foundation project "Semantic Robots".  ...  Conclusion and Future Work In this paper, We have proposed a flexible model and solver for simultaneous task allocation and motion scheduling (STAAMS) for industrial manipulation and assembly tasks for  ... 
doi:10.1109/icra.2019.8794022 dblp:conf/icra/BehrensLM19 fatcat:kulhal3cv5eifc3yy6p3m4jnyi

Coordination of two robotic manipulators for object retrieval in clutter [article]

Jeeho Ahn, ChangHwan Kim, Changjoo Nam
2021 arXiv   pre-print
With two robots, the relocation could be done efficiently by simultaneously performing relocation tasks.  ...  However, the precedence constraint between the tasks (e.g, some objects at the front should be removed to manipulate the objects in the back) makes the simultaneous task execution difficult.  ...  The methods proposed in [19] , [20] integrate task allocation and motion scheduling for task optimization for dual-arm coordination.  ... 
arXiv:2109.15220v1 fatcat:ozpmundlerhinj46q6n6py6ibu

An Integrated Dynamic Method for Allocating Roles and Planning Tasks for Mixed Human-Robot Teams

Fabio Fusaro, Edoardo Lamon, Elena De Momi, Arash Ajoudani
2021 Zenodo  
This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments.  ...  In this way, instead of the well-studied offline centralized optimization problem, the role allocation problem is solved with multiple simplified online optimization sub-problems, without complex and cross-schedule  ...  agents that can execute multiple tasks simultaneously, multi-agent tasks, i.e, tasks which requires multiple agents, and, finally, time-extended assignments, i.e. the allocation considers also future  ... 
doi:10.5281/zenodo.4954950 fatcat:k3vwzo57ajgapdwlgitshtlxmy

A Constraint Programming Approach to Simultaneous Task Allocation and Motion Scheduling for Industrial Dual-Arm Manipulation Tasks [article]

Jan Kristof Behrens, Ralph Lange, Masoumeh Mansouri
2019 arXiv   pre-print
We propose a constraint programming approach to simultaneous task allocation and motion scheduling for such industrial manipulation and assembly tasks.  ...  Our solver integrates such task models and robot motion models into constraint optimization problems and solves them efficiently using various heuristics to produce makespan-optimized robot programs.  ...  The authors thank the project Robotics for  ... 
arXiv:1901.07914v1 fatcat:l3u2qg2aznaozh5amtwh6yyvwq

Towards a Tool-based Methodology for Developing Software for Dynamic Robot Teams

Roland Glück, Alwin Hoffmann, Ludwig Nägele, Andreas Schierl, Wolfgang Reif, Heinz Voggenreiter
2018 Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics  
those steps to possible robot teams with compatible skills and calculating collision-free execution schedules with a high degree of parallelization to improve cycle times.  ...  In this setting, complexity of planning and programming such robotic applications grows due to the drastic increase in flexibility, performance and robustness required.  ...  ACKNOWLEDGEMENTS This work is partly funded by the German Research Foundation (DFG) under the TeamBotS grant.  ... 
doi:10.5220/0006884806150622 dblp:conf/icinco/GluckHNSRV18 fatcat:6gefvsbfmzbwfdz3puh55fjrqi

Flexible and continuous execution of real-time critical robotic tasks

Michael Vistein, Andreas Angerer, Alwin Hoffmann, Andreas Schierl, Wolfgang Reif
2014 International Journal of Mechatronics and Automation  
This article describes a flexible and extensible interface for the specification and continuous execution of robotic tasks.  ...  Therefore, we propose an architecture based on the separation of application control and the execution of real-time robotic tasks.  ...  A Robot Control Core can execute multiple primitive nets simultaneously, but those nets must not access the same resources.  ... 
doi:10.1504/ijma.2014.059773 fatcat:ijun7xyoxjbwfijyk4kfongxcm

Resource scheduling and load balancing in distributed robotic control systems

Colin McMillen, Kristen N. Stubbs, Paul E. Rybski, Sascha A. Stoeter, Maria Gini, Nikolaos P. Papanikolopoulos
2003 Robotics and Autonomous Systems  
Two of the major challenges facing such a system are the scheduling of access to system resources and the distribution of work across multiple workstations.  ...  As the robots themselves have very limited computational capabilities, a distributed control system is needed to coordinate tasks among a large number of robots.  ...  G155, Program Code No. 8H20, issued by DARPA/CMD under Contract #MDA972-98-C-0008.  ... 
doi:10.1016/s0921-8890(03)00075-7 fatcat:o5dgkey5ybfl3kju23kxaubc3i

Scheduling Access to Shared Space in Multi-robot Systems [chapter]

Yara Khaluf, Christine Markarian, Pieter Simoens, Andreagiovanni Reina
2017 Lecture Notes in Computer Science  
Through this study, we introduce the idea of applying scheduling techniques to allocate spatial resources that are shared among multiple robots moving in a static environment and having temporal constraints  ...  To illustrate this idea, we present an exemplified algorithm that plans and assigns a motion path to each robot.  ...  In fact, in our study, tasks are not pieces of code to execute (as in traditional scheduling), but tasks are robot motions which are characterized by stochastic execution times.  ... 
doi:10.1007/978-3-319-59930-4_12 fatcat:64tyy6vr45d7dea7ej73dcrslu

A Framework for Information Distribution, Task Execution and Decision Making in Multi-Robot Systems

Matthias RAMBOW, Florian ROHRMÜLLER, Omiros KOURAKOS, Drazen BRŠCIC, Dirk WOLLHERR, Sandra HIRCHE, Martin BUSS
2010 IEICE transactions on information and systems  
It provides efficient exchange of generated data as well as a generic scheme for task execution and robot coordination.  ...  In this respect high functional robots are equipped with many sensors and actuators and run multiple processing modules in parallel.  ...  Special thanks to the entire MuRoLa team for their support and also to Dr. K. Kühnlenz and S. Sosnowski for the provision of EDDIE.  ... 
doi:10.1587/transinf.e93.d.1352 fatcat:3gj34miyzzgmrbz5pn35rtvu44

Sharing control [multiple miniature robots]

P.E. Rybski, S.A. Stoeter, N.P. Papanikolopoulos, I. Burt, T. Dahlin, M. Gini, D.F. Hougen, D.G. Krantz, F. Nageotte
2002 IEEE robotics & automation magazine  
We plan to explore new communications technologies in order to increase the range and data rate of the RF communications link.  ...  Keywords Multiple robots, mobile robots, distributed software architecture, resource allocation.  ...  This work has also been supported in part by the Microsoft Corporation and the Idaho National Engineering and Environmental Laboratory (INEEL).  ... 
doi:10.1109/mra.2002.1160070 fatcat:c5ac6wyjebaztinshtblz47pce

Multiple Traveling Robot Problem: A Solution Based on Dynamic Task Selection and Robust Execution

S. Sariel-Talay, T.R. Balch, N. Erdogan
2009 IEEE/ASME transactions on mechatronics  
The overall solution quality is dependent on both the quality of the solution constructed by the paths of robots and the efficient allocation of the targets to robots.  ...  Index Terms-Distributed multirobot task allocation, incremental task selection, multiple traveling robot problem (MTRP), robustness.  ...  Koenig, and P. Keskinocak for helpful discussions.  ... 
doi:10.1109/tmech.2009.2014157 fatcat:vpo6sglsvzc3zg3wjfvwtdszvu

Towards Computational Awareness in Autonomous Robots: An Empirical Study of Computational Kernels [article]

Ashrarul H. Sifat, Burhanuddin Bharmal, Haibo Zeng, Jia-Bin Huang, Changhee Jung, Ryan K. Williams
2021 arXiv   pre-print
Specifically, we conduct a data-driven study of the timing, power, and memory performance of kernels for localization and mapping, path planning, task allocation, depth estimation, and optical flow, across  ...  We profile and analyze these kernels to provide insight into scheduling and dynamic resource management for computation-aware autonomous robots.  ...  Task Allocation Single robots and multi-robot teams often have multiple high-level tasks to complete over a mission, with the tasks potentially streaming in or changing in nature over time (see the left  ... 
arXiv:2112.10303v1 fatcat:zz3rfw5wjnfcvgq7alblj2rpn4

Coordinating a heterogeneous robot swarm using Robot Utility-based Task Assignment (RUTA)

Tamer Abukhalil, Madhav Patil, Sarosh Patel, Tarek Sobh
2016 2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)  
Moreover, the desired tasks may be too complex for one single robot, whereas it can be effectively done by multiple robots [1] [2] [3] .  ...  We assume that sub-tasks allocated to robot must be ordered into a schedule = ( , , ′ ), … … , , , ′ for 1 ≤ ≤ where is the subtask performed from time ′ .  ... 
doi:10.1109/amc.2016.7496328 dblp:conf/amc/AbukhalilPPS16 fatcat:bn7t3zo67vfjtnxnrydb2gabnm

Development of ROS2-TMS: new software platform for informationally structured environment

Tomoya Itsuka, Minsoo Song, Akihiro Kawamura, Ryo Kurazume
2022 ROBOMECH Journal  
In addition, we implemented a new task scheduler that provides a cancelation function to stop running tasks and improve the security of the platform.  ...  An informationally structured environment is vital for developing intelligent service robots by embedding various sensors in the environment to enhance the sensing capability and intelligence of robots  ...  physical and virtual domains" (funding agency: NEDO).  ... 
doi:10.1186/s40648-021-00216-2 doaj:94bf3423dd1c4e91ad880837f5edb3fa fatcat:za6zrdh54ndplcvmiwxo4sag64
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