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The paper presents a new approach for robots tasks allocation and scheduling in order to minimize the total execution time (makespan) of a mission while satisfying all the tasks constraints. This approach is implemented in a multi-agent architecture for remote control of heterogeneous multi-robot systems. The agents controlling the robots coordinate their actions and cooperate to achieve the assigned...
This paper proposes to use a rule-based simulation-optimization approach for the dynamic scheduling and control of a robotic assembly cell. The approach is useful in both hierarchic control structure and hybrid control structure where the decision is distributed among the robotic cell entities that are products and resources (robots). Particularly, the approach make use of scheduling/dispatching rules...
This paper describes a Human/Robot Interface (HRI) for wireless remotely controlled autonomous mobile manipulators by human operators. Indeed, the developed interface provides all the information of the sensors equipping the robot. The human operator can control all the actuators of the mobile manipulator at the same time (mobile base and manipulator simultaneously) or separately (manipulator or mobile...
A mobile manipulator is composed of heterogeneous resources (mobile base, manipulator, etc.). Consequently, each resource can carry out a different set of operations. In the case where each resource is controlled by an agent (so a multi-agent control architecture), a multi-agent heterogeneous planning is required to generate the operations plan. When the operator of the robot introduces a mission,...
This research is part of the development of a multi-agent control architecture of mobile manipulators. The control architecture consists of six agents: Supervisory, Local Mobile Robot, Local Manipulator Robot, Vision System, Remote Mobile Robot and Remote Manipulator Robot. The first four agents are installed on an off-board PC while the two others are installed on the on-board PC of the robot. This...
This paper presents a trajectory planning methodology for a mobile manipulator whose end-effector has to follow a predefined operational trajectory while considering obstacles in its environment. The robot is controlled by a multi-agent architecture that consists of six agents: Four agents are installed on an off-board PC and two others installed on the onboard PC of the robot. The validity of the...
As a specialisation of Holonic agent-based distributed manufacturing control, intelligent product-driven manufacturing control paradigm has recently emerged as one of the most promising paradigms for the development of next generation manufacturing intelligent control systems. But major issue to be solved to make this paradigm effective in real world industrial environment is related to the lack of...
This paper presents both a design and implementation of a telerobotic system application for the mobile robot manipulator ROBUTER_ULM. This system allows an operator far-away of the operation site, which is not necessarily an expert, to manipulate the robot remotely so as to control the flow of information on the state of robot and its environment. That information are fashioned in a multi-sensorial...
This paper finds its place in the combined area of multi-agent telerobotics. It describes the work carried out in the development of a multi-agent architecture for remote control of mobile manipulator robot. Decisions are made by the high-level layers of the multi-agent system, installed in the local site, and transmitted to the low-level layers, installed in the remote site, for execution. The implementation...
The problem of trajectories planning for manipulator robots in workspaces clustered with static obstacles is described as NP-hard. This pushed many researchers to adopt simplifying assumptions and consequently, to develop resolution methods dedicated to particular cases. In this article, we propose a general methodology, which deals with the problem by taking into account a large range of imposed...
In this article, we present a generic hierarchical behaviour-based model architecture for piloting mobile manipulator robots. The proposed model architecture is based on three level hierarchical behaviours. Two behaviours are high- level, two others are of intermediate-level and finally one behaviour is low-level. The first two behaviours constitute the supervisor agent, which manages the global system...
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