Opportunistic scheduling for robotic assembly

Fox, Barry; Kempf, Karl G.

doi:10.1109/robot.1985.1087274

Cited by 66 publications

(21 citation statements)

References 8 publications

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“…The reactive component is allowed to modify action ordering or introduce minor deviations. A similar approach has been used by (Fox and Kempf, 1985) for robot assembly tasks and by (Fraichard and Laugier, 1991) for robot motion planning. What distinguishes our approach from those systems is its capability to control the quality of planning on-line in order to respond to resource constraints.…”

Section: Sensing and Planning As Information Sourcesmentioning

confidence: 99%

Resource-bounded sensing and planning in autonomous systems

Zilberstein

1996

Auton Robot

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This paper is concerned with the implications of limited computational resources and uncertainty on the design of autonomous systems. To address this problem, we redefine the principal role of sensor interpretation and planning processes. Following Agre and Chapman's plan-as-communication approach, sensing and planning are treated as computational processes that provide information to an execution architecture and thus improve the overall performance of the system. We argue that autonomous systems must be able to trade off the quality of this information with the computational resources required to produce it. Anytime algorithms, whose quality of results improves gradually as computation time increases, provide useful performance components for timecritical sensing and planning in robotic systems. In our earlier work, we introduced a compilation scheme for optimal composition of anytime algorithms, This paper demonstrates the applicability of the compilation technique to the construction of autonomous systems. The result is a flexible approach to construct systems that can operate robustly in real-time by exploiting the tradeoff between time and quality in planning, sensing and plan execution.

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Section: Sensing and Planning As Information Sourcesmentioning

confidence: 99%

Resource-bounded sensing and planning in autonomous systems

Zilberstein

1996

Auton Robot

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“…As a result, more concise representations are being investigated. Two of the earlier attempts to obtain more compact representations, proposed by Ko and Lee [4] and by Fox and Kempf [9], use a precedence graph to represent the relationship between the various mating tasks. This type of representation, however, does not directly describe all the possible assembly sequences, since the order in which mating tasks can be taken from two parallel precedence paths is not made explicit.…”

Section: Representation Of Assembly Sequencesmentioning

confidence: 99%

The analysis of potential mating trajectories and grasp sites

Welch

Kelley

1993

Int J Adv Manuf Technol

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“…One early attempt was the use of a set of tasks and a set of precedence constraints relating two tasks [15]. But as discussed elsewhere [17], there are products for which standard precedence constraints cannot encompass all sequences.…”

Section: Representation Of Assembly Sequencesmentioning

confidence: 99%

Automatic Generation of Mechanical Assembly Sequences

Mello¹,

Sanderson²

1988

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Opportunistic scheduling for robotic assembly

Cited by 66 publications

References 8 publications

Resource-bounded sensing and planning in autonomous systems

Resource-bounded sensing and planning in autonomous systems

The analysis of potential mating trajectories and grasp sites

Automatic Generation of Mechanical Assembly Sequences

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