Behavior-based control of multi-robot assembly/palletizing systems

Ella Mendelson; Ofer Nayer; Sigal Berman; Yael Edan

Behavior-based control of multi-robot assembly/palletizing systems

Ella Mendelson, Ofer Nayer, Sigal Berman, Yael Edan

Department of Industrial Engineering and Management

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

A decentralized palletizing multi-robot system was developed using fuzzy behavior-based control. The system consists of a conveyor, two robots and a vision system. The system's role is to perform a palletizing task using parts arriving on the conveyor. Two control algorithms were compared; a simple algorithm and a behavior-based algorithm combined with fuzzy logic. Thirty experiments were conducted while changing the control algorithm, parts arrival frequency, and conveyor velocity. Performance measures included number of parts taken, number of pallets, robots utilization and work cell utilization. Experimental results indicated better performance for the simple algorithm. However, the fuzzy behavior-based algorithm equalizes the robots utilization. Equal utilization is a major factor in multi-robots systems, and contributes in decreasing mean time between failure (MTBF). We expect that for a heavier loaded system the fuzzy behavior-based algorithm will yield higher performances.

Original language	English
Title of host publication	Robotics, Automation, Control and Manufacturing
Subtitle of host publication	Trends, Principles and Applications - Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISORA 2002, ISIAC 2002 and ISOMA 2002
Pages	1-6
Number of pages	6
Volume	14
State	Published - 1 Dec 2002
Event	9th Int. Symp. on Robotics and Applications, ISORA 2002, 8th Int. Symp. on Manufacturing and Applications, ISOMA 2002 and 4th Int. Symposium on Intelligent Automation and Control, ISIAC 2002, Held within the World Automation Congress, WAC 2002 - Orlando, FL, United States Duration: 9 Jun 2002 → 13 Jun 2002

Conference

Conference	9th Int. Symp. on Robotics and Applications, ISORA 2002, 8th Int. Symp. on Manufacturing and Applications, ISOMA 2002 and 4th Int. Symposium on Intelligent Automation and Control, ISIAC 2002, Held within the World Automation Congress, WAC 2002
Country/Territory	United States
City	Orlando, FL
Period	9/06/02 → 13/06/02

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Control and Systems Engineering

Cite this

@inproceedings{c206edeb5e4f477382201a7ca376c303,

title = "Behavior-based control of multi-robot assembly/palletizing systems",

abstract = "A decentralized palletizing multi-robot system was developed using fuzzy behavior-based control. The system consists of a conveyor, two robots and a vision system. The system's role is to perform a palletizing task using parts arriving on the conveyor. Two control algorithms were compared; a simple algorithm and a behavior-based algorithm combined with fuzzy logic. Thirty experiments were conducted while changing the control algorithm, parts arrival frequency, and conveyor velocity. Performance measures included number of parts taken, number of pallets, robots utilization and work cell utilization. Experimental results indicated better performance for the simple algorithm. However, the fuzzy behavior-based algorithm equalizes the robots utilization. Equal utilization is a major factor in multi-robots systems, and contributes in decreasing mean time between failure (MTBF). We expect that for a heavier loaded system the fuzzy behavior-based algorithm will yield higher performances.",

author = "Ella Mendelson and Ofer Nayer and Sigal Berman and Yael Edan",

year = "2002",

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volume = "14",

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note = "9th Int. Symp. on Robotics and Applications, ISORA 2002, 8th Int. Symp. on Manufacturing and Applications, ISOMA 2002 and 4th Int. Symposium on Intelligent Automation and Control, ISIAC 2002, Held within the World Automation Congress, WAC 2002 ; Conference date: 09-06-2002 Through 13-06-2002",

}

Mendelson, E, Nayer, O, Berman, S & Edan, Y 2002, Behavior-based control of multi-robot assembly/palletizing systems. in Robotics, Automation, Control and Manufacturing: Trends, Principles and Applications - Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISORA 2002, ISIAC 2002 and ISOMA 2002. vol. 14, pp. 1-6, 9th Int. Symp. on Robotics and Applications, ISORA 2002, 8th Int. Symp. on Manufacturing and Applications, ISOMA 2002 and 4th Int. Symposium on Intelligent Automation and Control, ISIAC 2002, Held within the World Automation Congress, WAC 2002, Orlando, FL, United States, 9/06/02.

Behavior-based control of multi-robot assembly/palletizing systems. / Mendelson, Ella; Nayer, Ofer; Berman, Sigal et al.

Robotics, Automation, Control and Manufacturing: Trends, Principles and Applications - Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISORA 2002, ISIAC 2002 and ISOMA 2002. Vol. 14 2002. p. 1-6.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Behavior-based control of multi-robot assembly/palletizing systems

AU - Mendelson, Ella

AU - Nayer, Ofer

AU - Berman, Sigal

AU - Edan, Yael

PY - 2002/12/1

Y1 - 2002/12/1

N2 - A decentralized palletizing multi-robot system was developed using fuzzy behavior-based control. The system consists of a conveyor, two robots and a vision system. The system's role is to perform a palletizing task using parts arriving on the conveyor. Two control algorithms were compared; a simple algorithm and a behavior-based algorithm combined with fuzzy logic. Thirty experiments were conducted while changing the control algorithm, parts arrival frequency, and conveyor velocity. Performance measures included number of parts taken, number of pallets, robots utilization and work cell utilization. Experimental results indicated better performance for the simple algorithm. However, the fuzzy behavior-based algorithm equalizes the robots utilization. Equal utilization is a major factor in multi-robots systems, and contributes in decreasing mean time between failure (MTBF). We expect that for a heavier loaded system the fuzzy behavior-based algorithm will yield higher performances.

AB - A decentralized palletizing multi-robot system was developed using fuzzy behavior-based control. The system consists of a conveyor, two robots and a vision system. The system's role is to perform a palletizing task using parts arriving on the conveyor. Two control algorithms were compared; a simple algorithm and a behavior-based algorithm combined with fuzzy logic. Thirty experiments were conducted while changing the control algorithm, parts arrival frequency, and conveyor velocity. Performance measures included number of parts taken, number of pallets, robots utilization and work cell utilization. Experimental results indicated better performance for the simple algorithm. However, the fuzzy behavior-based algorithm equalizes the robots utilization. Equal utilization is a major factor in multi-robots systems, and contributes in decreasing mean time between failure (MTBF). We expect that for a heavier loaded system the fuzzy behavior-based algorithm will yield higher performances.

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AN - SCOPUS:78650234125

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SN - 9781889335193

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BT - Robotics, Automation, Control and Manufacturing

T2 - 9th Int. Symp. on Robotics and Applications, ISORA 2002, 8th Int. Symp. on Manufacturing and Applications, ISOMA 2002 and 4th Int. Symposium on Intelligent Automation and Control, ISIAC 2002, Held within the World Automation Congress, WAC 2002

Y2 - 9 June 2002 through 13 June 2002

ER -

Behavior-based control of multi-robot assembly/palletizing systems

Abstract

Conference

ASJC Scopus subject areas

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