A new variable-structure (VS) Augmented Interacting Multiple Model (AIMM) technique is developed in the paper. Fixed-structure (FS) and VS AIMM algorithms using augmented constant velocity and augmented coordinated turn (ACT) models, are proposed. The ACT model includes the difference between the unknown current turn rate and its value assumed in the IMM models. Due to the estimated turn rate, significant self-adjusting abilities are provided to the designed AIMM algorithms, which give very good overall accuracy and consistency. Both AIMM algorithms are compared to a particular VS adaptive grid IMM algorithm. It is shown that the VS IMM algorithms possess better mobility, while the FS AIMM algorithm possesses better consistency. The VS AIMM algorithm provides the best estimation of the turn rate.

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This paper describes the components ("sofrware agents") that are needed in an autonomous robotic assembly system. Such a system is called "autonomous" if it is able to cope with all uncertainties in the real-world execution (control and sensing) of an assembly task that was planned 08-line, and with the (re)planning itsel$ For each component, the paper answers the following three ques- tions: What is needed in this component? What has already been achieved in (industrial and research) practice?And what are realistic expectations for the short to medium term future? The goal is to facilitate discussions about the future of robotic assembly, by providing a structured overview.machine engines, with an emphasis on finding collisionfree paths, not on executing the (dis)assembly by a robot system. This paper, on the other hand, focusses on the compliant motion kind of assembly planning. Current compliant motion controllers invariably operate in very structured environments and without active force control: the relative positions and the geometries of the relevant parts of all objects involved in the assembly (including robots and fixtures) are known and fixed. Industrial robot controllers do not yet offer force control features, for various reasons: 0 Compliant motion is inherently more difficult than the more popular robotics research topics. such as mobile robots: controlled contact is more difficult to achieve than controlled obstacle avoidance.

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