Abstract
Synthesis and tasks execution is a well known problem pertaining to different fields. With the advent of Industry 4.0, the need to schedule and execute very complex tasks that involve different machinery or robots has become a key topic. In this article we propose a methodology that allows to define and monitor the execution of high-level tasks for a heterogeneous multi-robot system involved in assembly tasks. With the proposed approach, a state-chart is automatically synthesized starting from the definition of high-level tasks. The state-chart is then used to monitor online the operations that the robots must execute. The proposed methodology has been validated and tested in a research facility that reproduces a complete production line involving collaborative robotic arms, mobile robots and manufacturing machines.
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Trotti, F., Ghignoni, E., Muradore, R., Farinelli, A. (2023). Synthesis and Monitoring of Complex Tasks for Heterogeneous Robots in an Industry 4.0 Scenario. In: Petrovic, I., Menegatti, E., Marković, I. (eds) Intelligent Autonomous Systems 17. IAS 2022. Lecture Notes in Networks and Systems, vol 577. Springer, Cham. https://doi.org/10.1007/978-3-031-22216-0_49
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DOI: https://doi.org/10.1007/978-3-031-22216-0_49
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