Scheduling a single mobile robot for part-feeding tasks of production lines

Dang, Quang-Vinh; Nielsen, Izabela; Steger-Jensen, Kenn; Madsen, Ole

doi:10.1007/s10845-013-0729-y

Cited by 62 publications

(39 citation statements)

References 35 publications

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“…In general, robots have not received as much attention in the constraint-based scheduling literature as they have in the planning literature. Namely, most scheduling work focuses on robots in production lines (Dang, Nielsen, Steger-Jensen, & Madsen, 2013;Kats & Levner, 2011) and robot task scheduling (Zhang & Parker, 2012. In these works, all tasks must be processed and they do not lead to cascading effects on the actions of robots or require reasoning about causation.…”

Section: Motivation and Backgroundmentioning

confidence: 99%

Robots in Retirement Homes: Applying Off-the-Shelf Planning and Scheduling to a Team of Assistive Robots

Tran¹,

Vaquero²,

Nejat³

et al. 2017

jair

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This paper investigates three different technologies for solving a planning and scheduling problem of deploying multiple robots in a retirement home environment to assist elderly residents. The models proposed make use of standard techniques and solvers developed in AI planning and scheduling, with two primary motivations. First, to find a planning and scheduling solution that we can deploy in our real-world application. Second, to evaluate planning and scheduling technology in terms of the "model-and-solve" functionality that forms a major research goal in both domain-independent planning and constraint programming. Seven variations of our application are studied using the following three technologies: PDDL-based planning, time-line planning and scheduling, and constraint-based scheduling. The variations address specific aspects of the problem that we believe can impact the performance of the technologies while also representing reasonable abstractions of the real world application. We evaluate the capabilities of each technology and conclude that a constraint-based scheduling approach, specifically a decomposition using constraint programming, provides the most promising results for our application. PDDL-based planning is able to find mostly low quality solutions while the timeline approach was unable to model the full problem without alterations to the solver code, thus moving away from the modeland-solve paradigm. It would be misleading to conclude that constraint programming is "better" than PDDL-based planning in a general sense, both because we have examined a single application and because the approaches make different assumptions about the knowledge one is allowed to embed in a model. Nonetheless, we believe our investigation is valuable for AI planning and scheduling researchers as it highlights these different modelling assumptions and provides insight into avenues for the application of AI planning and scheduling for similar robotics problems. In particular, as constraint programming has not been widely applied to robot planning and scheduling in the literature, our results suggest significant untapped potential in doing so.

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Section: Motivation and Backgroundmentioning

confidence: 99%

Robots in Retirement Homes: Applying Off-the-Shelf Planning and Scheduling to a Team of Assistive Robots

Tran¹,

Vaquero²,

Nejat³

et al. 2017

jair

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show abstract

“…These automation robots include Unmanned Ground Vehicle (UGV) and Unmanned Aerial Vehicle (UAV). UGV, whose nature is operating on the ground, has been widely used for manufacturing tasks like part-feeding and material handling (Dang, Nielsen, Steger-Jensen, & Madsen, 2014;Vivaldini, Rocha, Becker, & Moreira, 2015). UAV, which is operating in the air, is emerging in various application domains such as surveillance, logistics, and search-rescue missions.…”

Section: Introductionmentioning

confidence: 99%

A system of UAV application in indoor environment

Khosiawan

Nielsen

2016

Production & Manufacturing Research

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In recent years, there has been an increased demand in the use of multiple unmanned aerial vehicles (UAVs) in indoor environments such as material handling task in a manufacturing environment and plant/ environment monitoring task in a greenhouse. However, there is a lack of work reported on this topic. This paper presents a detailed study on several UAV systems and UAV scheduling systems. It is followed by a proposed system of UAV application in indoor environment, which comprises components of UAV system addressed in detail; focused on scheduler as the heart of operations. Consequently, system architecture of UAV scheduling system is presented and the framework of scheduler component is included. Scheduler component works in a phased manner to provide a systematic abstraction and achieve an efficient computation time. This study serves as a reference guide for UAV application in indoor environment.

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“…Two different approaches have been taken in solving the RCPSP. The first approach includes exact algorithms, which produce optimum solutions [6,7]. The second approach is comprised of algorithms that provide admissible solutions refer to [3,4,8,9].…”

Section: Introductionmentioning

confidence: 99%

“…Therefore the new methods and techniques addressing the impact of real-life constraints on online decision making are of great importance [4]. To do this in a way compatible with real life settings necessitate the use of stochastic and fuzzy logic frameworks [6]. The fuzzy model of project portfolio online control can be specified as a declarative one and then implemented using constraint programming techniques and finally implemented as a decision support system [3].…”

Section: Introductionmentioning

confidence: 99%

Multiple Project Portfolio Scheduling Subject to Mass Customized Service

Bzdyra

Banaszak

Bocewicz

2015

Advances in Intelligent Systems and Computing

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Abstract. Declarative framework enabling to determine conditions as well as to develop a decision making software supporting small and medium size enterprises aimed at unique, multi project-like and mass customized oriented production is discussed. The set of unique production orders grouped into portfolio orders is considered. To each production order treated as an activity network common shared resources operation times of which are known in advance are allotted. The problem concerns of scheduling of a newly inserted projects portfolio subject to constraints imposed by a multi-project environment The answer sought is: Whether a given portfolio can be completed within assumed time period in a manufacturing system in hand? The goal is to provide a declarative model enabling to state a constraint satisfaction problem aimed at multi projectlike and mass customized oriented production scheduling. The attached calculation example illustrates the computational efficiency of the proposed solution.

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Scheduling a single mobile robot for part-feeding tasks of production lines

Cited by 62 publications

References 35 publications

Robots in Retirement Homes: Applying Off-the-Shelf Planning and Scheduling to a Team of Assistive Robots

Robots in Retirement Homes: Applying Off-the-Shelf Planning and Scheduling to a Team of Assistive Robots

A system of UAV application in indoor environment

Multiple Project Portfolio Scheduling Subject to Mass Customized Service

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