Скачать или смотреть Online Sequential Task Assignment with Execution Uncertainties for Multiple Robot Manipulators

Three Franka Emika Panda robots are assigned 16 tasks via an branch-and-bound algorithm. Synchronous and asynchronous settings are compared. In the synchronous setting, the next assignment for all robots is computed when all robots become idle. In the asynchronous setting, the next assignment is computed when a robot has finished its current task, and assigned to it under the condition that its knowledge of the state of the system has not changed. Task execution times are generated randomly. Kinematically and dynamically-feasible motions are generated for each of the three robots on the fly, and the system avoids interference between robot motions by trajectory re-planning.

This work is funded by Vinnova project AutoBoomer ("Automated drill planning for multiple-boom rigs in underground mining", grant no. 2018-04622).

(c) 2021 Shiyu Zhang, Federico Pecora