2 research outputs found
Multi-robot preemptive task scheduling with fault recovery: a novel approach to automatic logistics of smart factories
This paper presents a novel approach for Multi-Robot Task Allocation (MRTA) that introduces
priority policies on preemptive task scheduling and considers dependencies between tasks, and
tolerates faults. The approach is referred to as Multi-Robot Preemptive Task Scheduling with Fault
Recovery (MRPF). It considers the interaction between running processes and their tasks for management
at each new event, prioritizing the more relevant tasks without idleness and latency. The benefit
of this approach is the optimization of production in smart factories, where autonomous robots are
being employed to improve efficiency and increase flexibility. The evaluation of MRPF is performed
through experimentation in small-scale warehouse logistics, referred to as Augmented Reality to
Enhanced Experimentation in Smart Warehouses (ARENA). An analysis of priority scheduling, task
preemption, and fault recovery is presented to show the benefits of the proposed approach.This study was financed in part by the Coordenação de Aperfeiçoamento de Pessoal de
Nível Superior—Brasil (CAPES)—Finance Code 001 and in part by Conselho Nacional de Desenvolvimento
Científico e Tecnológico (CNPq).info:eu-repo/semantics/publishedVersio
Optimal Trajectory Control Process for Robotic Workstation using a Digital Twin
Práce je o optimalizaci trajektorie v simulačním prostředí třetí strany se zaměřením na samostatnou úpravu a vytvoření optimální trajektorie. Výsledná trajektorie by měla být následně importována do simulačního prostředí výrobce daného robota na kterém je práce prováděna a být schopný komunikovat s prostředím třetí strany tak aby obě robotická ramena vykonávaly stejný pohyb v co nejkratším časovém rozptylu od sebe. Výsledný ověřený program je následně importovatelný do reálného pracoviště, jež bude následně spuštěno s optimalizovaným programem a porovnat shodu se simulačním očekáváním.The thesis is about optimizing the trajectory in a third-party simulation environment with a focus on self-adjustment and creating an optimal trajectory. The resulting trajectory should then be imported into the simulation environment of the robot manufacturer on which the work is performed and be able to communicate with the third-party environment so that both robotic arms perform the same movement in the shortest possible time dispersion from each other. The resulting verified program is then importable into a real workplace, which will then be launched with the optimized program and compare compliance with simulation expectations.450 - Katedra kybernetiky a biomedicínského inženýrstvívýborn