Distributed multi-robot assembly/packaging algorithms

Y. Edan, S. Berman, E. Boteach, E. Mendelson

Research output: Contribution to journalArticlepeer-review

3 Scopus citations

Abstract

Five different algorithms for cooperation between assembly/packaging robots in a distributed system were developed and evaluated in simulation. Independent, autonomous operation of each robot was assumed. The goal was to maximize the number of assemblies while minimizing the standard deviation of the work between the different robots. Two of the algorithms, a fuzzy algorithm and a simple “take-what-you-can” algorithm were implemented on an experimental system. Experimental results indicated better performance for the simple algorithm in terms of the number of assemblies. However, the fuzzy algorithm reduces the standard deviation of work between the robots and therefore equalizes the robots’ utilization. Equal utilization is a major factor in multi-robots systems, and contributes in decreasing mean time between failure (MTBF).

Original languageEnglish
Pages (from-to)349-357
Number of pages9
JournalIntelligent Automation and Soft Computing
Volume10
Issue number4
DOIs
StatePublished - 1 Jan 2004

Keywords

  • Assembly
  • Behavior-based
  • Fuzzy logic
  • Multi-robots

ASJC Scopus subject areas

  • Software
  • Theoretical Computer Science
  • Computational Theory and Mathematics
  • Artificial Intelligence

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