Dynamic Task Graphs for Teams in Collaborative Assembly Processes

• Type: Article in International Conference Proceedings Book
• Date: 2023

Authors

Macedo, A (Author) Other; Antão, L (Author) Other; Reis, J (Author) Other; Gil Manuel Gonçalves (Author) FEUP

Conference proceedings International

Title: Proceedings of the 15th International Conference on Agents and Artificial Intelligence, ICAART 2023, Volume 2, Lisbon, Portugal, February 22-24, 2023

Pages: 17-25

Indexing

Scopus - 0 Citations

Other information

Authenticus ID: P-00Z-S96

DOI: 10.5220/0011628500003393

Abstract (EN): Collaborative robots are increasingly used in assembly processes, particularly in teams (Human-Robot or Robot-Robot), expanding the complexity and possible alternative sequences of operation and ways of team allocation to complete the assembling of a product. With this complexity, representing the possible sequences of actions needed to complete the task and the necessary constraints in a graph would improve the flexibility provided by team collaboration. However, the best sequence must be selected to increase productivity and profit, which is still challenging for a robot. This work proposes a modular system composed of three different components that, in a closed-loop interaction, allows a robotic agent to correctly plan a task given a set of operations, and optimize the task sequence allocation and scheduling plan. The effectiveness of the system is evaluated within an assembly process of different types of furniture for task sequence and allocation. The agent was able to converge successfully in three assembly scenarios: a table with 1 leg, a table with 2 legs and a table with 4 legs. Moreover, in the task allocation tests, the robotic agent was able to select actions according to the human operator expertise and its impact in the task completion time. © 2023 by SCITEPRESS - Science and Technology Publications, Lda.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8