In this paper we present the idea that by using AI planning in concert with formal task modeling, the overhead associated with plan creation for complex tasks can be reduced. The proposed approach uses a SysML taxonomy to model the system capabilities and the process specification, and the PDDL planning language to determine acceptable objective solutions. This idea is applied to the manufacturing domain, and examples are shown modeling a multi-robot system in an automobile manufacturing environment. A discussion is given regarding the merits of the demonstrated approach. © 2013 IEEE.
Planning with a task modeling framework in manufacturing robotics / Jacob, Huckaby; Vassos, Stavros; Henrik I., Christensen. - (2013), pp. 5787-5794. ( 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 Tokyo 3 November 2013 through 8 November 2013) [10.1109/iros.2013.6697194].
Planning with a task modeling framework in manufacturing robotics
VASSOS, STAVROS;
2013
Abstract
In this paper we present the idea that by using AI planning in concert with formal task modeling, the overhead associated with plan creation for complex tasks can be reduced. The proposed approach uses a SysML taxonomy to model the system capabilities and the process specification, and the PDDL planning language to determine acceptable objective solutions. This idea is applied to the manufacturing domain, and examples are shown modeling a multi-robot system in an automobile manufacturing environment. A discussion is given regarding the merits of the demonstrated approach. © 2013 IEEE.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
