Title:
On-Line Planning of Flexible Assembly Systems: An Agent-Based Approach
On-Line Planning of Flexible Assembly Systems: An Agent-Based Approach
Authors
Wang, Cheng-Hua
Paredis, Christiaan J. J.
Paredis, Christiaan J. J.
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Abstract
This paper presents an agent-based approach to
online assembly task allocation and scheduling for
flexible assembly systems. We propose an anytime-scheduling algorithm to handle dynamic changes
during planning. This algorithm is the center of an agent-based architecture in which agents for
scheduling, collision avoidance, task execution, and task monitoring collaborate to overcome unexpected execution errors. A prototype planning system has been implemented for the RobotWorld flexible assembly system. Preliminary simulation results show that our approach is capable of dynamically rescheduling assembly operations after system faults occur. We are currently integrating the planning system with the assembly test bed in our laboratory.
Sponsor
Defense Advanced Research Projects Agency (Contract #ONR #N00014-96-1-0854).
Complex Engineered Systems at Carnegie Mellon University
Georgia Institute of Technology
Complex Engineered Systems at Carnegie Mellon University
Georgia Institute of Technology
Date Issued
1999-08
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