LegoBot: Automated Planning for Coordinated Multi-Robot Assembly of LEGO structures*
LegoBot: Automated Planning for Coordinated Multi-Robot Assembly of LEGO structures*
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LegoBot：乐高结构协调多机器人组装的自动规划*
DOI：
10.1109/iros45743.2020.9341428
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
W. Reif
中科院分区：
文献类型：
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作者：
Ludwig Nägele;A. Hoffmann;A. Schierl;W. Reif
具有协作机器人团队的多功能单元有望变得灵活、强大和高效，因此是未来工厂的关键。然而，它们的编程是繁琐的，基于人工智能的多机器人规划在计算上是昂贵的。在这项工作中，我们提出了一个模块化的和有效的两层规划方法的多机器人装配。我们的目标是从目标组件的（丰富的）3D模型中生成协调机器人团队的程序。虽然该方法的动机和评估与乐高，这是一个具有挑战性的变体块世界，该方法可以定制到不同类型的装配域。
Multi-functional cells with cooperating teams of robots promise to be flexible, robust, and efficient and, thus, are a key to future factories. However, their programming is tedious and AI-based planning for multiple robots is computationally expensive. In this work, we present a modular and efficient two-layer planning approach for multi-robot assembly. The goal is to generate the program for coordinated teams of robots from an (enriched) 3D model of the target assembly. Although the approach is both motivated and evaluated with LEGO, which is a challenging variant of blocks world, the approach can be customized to different kinds of assembly domains.