Distributed Planning and Execution for Flexible Robotic Assembly
Institute for Complex Engineered Systems
Carnegie Mellon University
Traditional planning and scheduling approaches do not work well
for flexible robotic assembly environments. These approaches are
usually pre-planned and cannot adapt to the dynamic changes of the system.
In this project, we adopt an agent based approach to address the issues
on fault-tolerance, uncertainty-handling, interleaving of planning and
execution, easy-to-implement and easy-to-maintain, etc. We have developed
an any-time algorithm based on the A* search algorithm to reduce the idle
time of each resource (robot). The agent-based system uses Task Control
Architecture (TCA) developed at Carnegie Mellon University as message-passing
mechanism and uses RobotWorld as our testbed.
Planning Result for a 20-operation task:
Execution Result for the same task: