A scene graph based shared 3D world model for robotic applications

Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new tasks are crucial to stay competitive. We propose a constraint programming approach to simultaneous task allocation and motion scheduling for such industrial manipulation and assembly tasks. The proposed approach covers dual-arm and even multi-arm robots as well as connected machines. The key concept are Ordered Visiting Constraints, a descriptive and extensible model to specify such tasks with their spatiotemporal requirements and task-specific combinatorial or ordering constraints. Our solver integrates such task models and robot motion models into constraint optimization problems and solves them efficiently using various heuristics to produce makespan-optimized robot programs. The proposed task model is robot independent and thus can easily be deployed to other robotic platforms. Flexibility and portability of our proposed model is validated through several experiments on different simulated robot platforms. We benchmarked our search strategy against a generalpurpose heuristic. For large manipulation tasks with 200 objects, our solver implemented using Google's Operations Research tools and ROS requires less than a minute to compute usable plans.

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“…As a consequence, we do not require a complex scene graph (cf. [3]) that tracks geometric relations between all objects in the workspace.…”

Section: B Analysismentioning

confidence: 99%

A Constraint Programming Approach to Simultaneous Task Allocation and Motion Scheduling for Industrial Dual-Arm Manipulation Tasks

Behrens

Lange

Mansouri

2019

2019 International Conference on Robotics and Automation (ICRA)

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“…Control flow can be expressed in LUA scripts, while complex coordination is possible using rFSM statecharts as suggested by Klotzbücher and Bruyninckx [19]. World models are usually implemented as components in an application dependent manner within the real-time context, which can include geometry, semantics and history [4].…”

Section: Support In Software Frameworkmentioning

confidence: 99%

On Structure and Distribution of Software for Mobile Manipulators

Schierl

Angerer

Hoffmann

et al. 2016

Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Rev

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Complex robot applications or the cooperation of multiple mobile robots are use cases of increasing popularity where software distribution becomes important. When developing mobile robot systems and applications, software structure and distribution has to be considered on various levels, with effects on the organization and exchange of data. With respect to structure and distribution, this work proposes to distinguish between real-time level, system level and application level. Ways of structuring the software, as well as advantages and disadvantages of distribution on each level are analyzed. Moreover, examples are given how this structure and distribution can be realized in the robotics frameworks OROCOS, ROS and the Robotics API. The results are demonstrated using a case study of two cooperating KUKA youBots handing over a work-piece while in motion, which is shown both in simulation and in a real world setup.

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“…The agents store the world model data, thus we call them World Model Agents. The data-types have to comply to the data model of the Robot Scene Graph (RSG) [11] which has been introduced as a data representation for robotic world models shared across multiple agents. It essentially consists of different types of nodes that are organized in a graph structure.…”

Section: A Distributed World Model Mechanismmentioning

confidence: 99%

“…• The extension of the Robot Scene Graph (RSG) [11] world model by a QoS-aware data exchange facility.…”

Section: Introductionmentioning

confidence: 99%

An approach for a distributed world model with QoS-based perception algorithm adaptation

Blumenthal

Hochgeschwender

Prassler

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-This paper presents a distributed world model that is able to adapt to changes in the Quality of Service (QoS) of the communication layer by online reconfiguration of perception algorithms. The approach consists of (a) a mechanism for storage, exchange and processing of world model data and (b) a feedback loop that incorporates reasoning techniques to adapt to QoS changes immediately. The latter introduces a Level of Detail (LoD) metric based on a spatial resolution in order to infer an upper bound for the amount of data that can be transmitted without violating an application specific transmission delay.Experiments have been performed with Octree-based subsampling techniques applied to data originating from a RGB-D camera using simulated and real-world data sets for timevarying bandwidth values as employed QoS measure.

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A scene graph based shared 3D world model for robotic applications

Cited by 25 publications

References 16 publications

A Constraint Programming Approach to Simultaneous Task Allocation and Motion Scheduling for Industrial Dual-Arm Manipulation Tasks

A Constraint Programming Approach to Simultaneous Task Allocation and Motion Scheduling for Industrial Dual-Arm Manipulation Tasks

On Structure and Distribution of Software for Mobile Manipulators

An approach for a distributed world model with QoS-based perception algorithm adaptation

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