An on-line coordination algorithm for multi-robot systems

Montano, Andres; Suárez, Raúl

doi:10.1109/etfa.2013.6648032

Cited by 11 publications

(6 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…In unstructured environments, where the robots might share the same workspace, the issues of timing for task allocation as well as planning the robotic motion sequences become of immense importance [19]- [21]. Furthermore, having to consider other robots as moving obstacles and preventing their collision in an online manner as manifested in [16]- [18] (see, e.g., [22]- [24] for other similar works) requires establishing secure and trustworthy machine-to-machine and possibly machine-to-cloud communication protocols [25], [26] where the robots share their status with each other.…”

Section: Introductionmentioning

confidence: 99%

Automatic Collision-Free Trajectory Generation for Collaborative Robotic Car-Painting

et al. 2022

View full text Add to dashboard Cite

This paper investigates the problem of collaborative robotic car-painting using a team of industrial manipulators that can be heterogeneous. Given the CAD model of the car, a collection of heterogeneous articulated robotic arms, and their corresponding fixed base positions on the factory floor/ceiling, the objective is to generate a collection of joint trajectories for each robot in a computationally efficient manner such that the car body can be painted by the nozzles attached to the arms while collisions during the painting process are avoided. Our solution to this computationally intensive collaborative coverage path planning relies on decoupling the collision avoidance from the coverage path planning by exploiting the inherent two-dimensional structure of the problem. In particular, our algorithm relies on partitioning the reachable space of the forearms of these robots, projecting the resulting volumes of intersection on the sides and the top of the car body, and performing the coverage planning on the resulting projected volumes. Simulation results on several industrial arms that are collaboratively painting a Ford Motor Company F-150 truck demonstrate the effectiveness of our proposed solution.INDEX TERMS Computer integrated manufacturing, computational geometry, multi-robot systems, path planning.

show abstract

Section: Introductionmentioning

confidence: 99%

Automatic Collision-Free Trajectory Generation for Collaborative Robotic Car-Painting

et al. 2022

View full text Add to dashboard Cite

show abstract

“…A robot can successfully accomplish some tasks alone or jointly with another robot in well-known environments (Montano and Suarez, 2013). However, for some specific tasks, the robot could not accomplish without the human cooperation.…”

Section: Introductionmentioning

confidence: 99%

Ensuring safety in human-robot coexisting environment based on two-level protection

Zhang

Jin

et al. 2016

View full text Add to dashboard Cite

Purpose The purpose of this paper is to provide a novel methodology based on two-level protection for ensuring safety of the moving human who enters the robot’s workspace, which is significant for dealing with the problem of human security in a human-robot coexisting environment. Design/methodology/approach In this system, anyone who enters the robot’s working space is detected by using the Kinect and their skeletons are calculated by the interval Kalman filter in real time. The first-level protection is mainly based on the prediction of the human motion, which used Gaussian mixture model and Gaussian Mixture Regression. However, even in cases where the prediction of human motion is incorrect, the system can still safeguard the human by enlarging the initial bounding volume of the human as the second-level early warning areas. Finally, an artificial potential field with some additional avoidance strategies is used to plan a path for a robot manipulator. Findings Experimental studies on the GOOGOL GRB3016 robot show that the robot manipulator can accomplish the predetermined tasks by circumventing the human, and the human does not feel dangerous. Originality/value This study presented a new framework for ensuring human security in a human-robot coexisting environment, and thus can improve the reliability of human-robot cooperation.

show abstract

“…The efficient coordination of several robot arms in order to avoid collisions while they carry out some independent given tasks in a common workspace is a frequent problem of relevance in several robotic fields, both in industrial and service applications. This work proposes a practical approach to solve this problem modifying the temporal evolution of the robots along their precomputed geometrical paths, as it was initially presented in [1].…”

Section: Introductionmentioning

confidence: 99%

Coordination of several robots based on temporal synchronization

Montano

Suárez

2016

Robotics and Computer-Integrated Manufacturing

View full text Add to dashboard Cite

© 2016. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/This paper proposes an approach to deal with the problem of coordinating multi-robot systems, in which each robot executes individually planned tasks in a shared workspace. The approach is a decoupled method that can coordinate the participating robots in on-line mode. The coordination is achieved through the adjustment of the time evolution of each robot along its original planned geometric path according to the movements of the other robots to assure a collision-free execution of their respective tasks. To assess the proposed approach different tests were performed in graphical simulations and real experiments.Postprint (published version

show abstract

An on-line coordination algorithm for multi-robot systems

Cited by 11 publications

References 12 publications

Automatic Collision-Free Trajectory Generation for Collaborative Robotic Car-Painting

Automatic Collision-Free Trajectory Generation for Collaborative Robotic Car-Painting

Ensuring safety in human-robot coexisting environment based on two-level protection

Coordination of several robots based on temporal synchronization

Contact Info

Product

Resources

About