Productive Multitasking for Industrial Robots*

D. Wuthier, F. Rovida, M. Fumagalli, V. Krüger

    Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review


    The application of robotic solutions to small-batch production is challenging: economical constraints tend to dramatically limit the time for setting up new batches. Organizing robot tasks into modular software components, called skills, and allowing the assignment of multiple concurrent tasks to a single robot is potentially game-changing. However, due to cycle time constraints, it may be necessary for a skill to take over without waiting on another to terminate, and the available literature lacks a systematic approach in this case. In the present article, we fill the gap by (a) establishing the specifications of skills that can be sequenced with partial executions, (b) proposing an implementation based on the combination of finite-state machines and behavior trees, and (c) demonstrating the benefits of such skills through extensive trials in the environment of ARIAC (Agile Robotics for Industrial Automation Competition).
    Original languageEnglish
    Title of host publicationProceedings of 2021 IEEE International Conference on Robotics and Automation
    Publication date2021
    ISBN (Print)978-1-7281-9078-5
    Publication statusPublished - 2021
    Event2021 IEEE International Conference on Robotics and Automation - Xi’an International Convention and Exhibition Center, Xi’an, China
    Duration: 30 May 20215 Jun 2021


    Conference2021 IEEE International Conference on Robotics and Automation
    LocationXi’an International Convention and Exhibition Center


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