Self-organization principles result in robust control of flexible manufacturing systems

Nature shows us in our daily life how robust, flexible and optimal self-organized modular constructions work in complex physical, chemical and biological systems, which successfully adapt to new and unexpected situations. A promising strategy is therefore to use such self-organization and pattern formation principles in engineering. By extracting selection processes as one of the main principles of pattern formation, we bridge the gap between detailed knowledge of self-organization in complex systems in natural science and its application in engineering. Time-dependent robot-target assignment problems with several autonomous robots and several targets are considered as model of flexible manufacturing systems. Each manufacturing target has to be served in a given time interval by one and only one robot and the total working costs have to be minimized (or total winnings maximized). A specifically constructed dynamical system approach (coupled selection equations) is used which is based on pattern formation principles and results in fault resistant and robust behaviour. An important feature is that this type of control also guarantees feasiblitiy of the assignment solutions. In previous work on adapting pattern formation principles to these problems either no feasibility is guaranteed or only unrealistic toy problems like one-step problems, i.e. no sequences of tasks, are treated. These limitations are overcome in the present work where sequential manufacturing tasks in logical order are fully considered with guaranteed feasibility of the assignment solutions. The performance of the suggested control is demonstrated and visualized with a computer simulation of autonomous space robots building a space station by distributed transporting several parts from a space shuttle to defined positions at the space station. This is in parts joint work with C. Ellsaesser, T. Fukuda, H. Haken, P. Molnar, M. Schanz.