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A self-organisation model for mobile robots in large structure assembly using multi-agent systems his item ws sumitted to voughorough niversity9s snstitutionl epository y theGn uthorF Citation: vteixuyD F FFF et lFD PHIUF e selfEorgnistion model for moile roots in lrge struture ssemly using multiEgent systemsF snX forngiu F et lF @edsA ervie yrienttion in roloni nd wultiEegent wnufturingF tudies in gomputtionl sntelligeneD pringerD vol TWRD ppFVQEWIF Additional Information:• his is preEopyedited version of ontriution pulished in foE rngiu FD rentesux hFD homs eFD veit£ o FD yliveir tF @edsA erE vie yrienttion in roloni nd wultiEegent wnufturing pulished y pringerF he definitive uthentited version is ville online vi httpXGGdxFdoiForgGIHFIHHUGWUVEQEQIWESIIHHEWVF Abstract. Mobile, self-organising robots are seen to be a possible solution to overcome the current limitations of fixed, dedicated automation systems particularly in the area of large structure assembly. Two of the key challenges for traditional dedicated automation systems in large structure assembly are considered to be the transportation of products and the adaptation of manufacturing processes to changes in requirements. In order to make dynamic, self-organising systems a reality, several challenges in the process dynamics and logistical control need to be solved. In this paper, we propose a Multi-Agent System (MAS) approach to self-organise mobile robots in large structure assembly. The model is based on fixed-priority pre-emptive scheduling and uses a blackboard agent as a central information source and to facilitate more common goal directed distributed negotiation and decision making between agents representing the different needs of products and available mobile resources (robots).

The manufacturing industry needs to increase productivity and flexibility to stay competitive. This requires more adaptable and versatile production capabilities. It is expected that dynamic systems, consisting of mobile robots, will be particularly prominent in manufacturing environments where it is difficult to move components and products in a flexible manner. This paper compares the relative advantages of a dynamic, mobile robot-based system with traditional dedicated automation systems. The study uses simulations to evaluate several representative scenarios with different product supply bottlenecks, interference among mobile robots and mixes of products inspired by the aerospace industry. The results show that mobility enables higher resource utilisation and increased flexibility. This highlights the potential operational advantages mobile robot-based systems would offer and gives clear justification to continue the development of dynamic, self-organising production systems based on mobile robots. ARTICLE HISTORY

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