Abstract
This article presents an agent based framework for coordinated motion planning of multiple robots. The emerging paradigm of agent based systems is implemented to address various issues related to safe and fast task execution when multiple robots share a common workspace. In the proposed agent based framework, each issue vital for coordinated motion planning of multiple robots and every robot participating in coordinated task is considered as an agent. The identified agents are interfaced with each other in order to incorporate the desired flexibility in the developed framework. This framework gives a complete strategy for determination of optimal trajectories of robots working in coordination with due consideration to their kinematic, dynamic and payload constraint. The complete architecture of the proposed framework and the detailed discussion on various modules are covered in this paper.
Highlights
The promising epitome of sustainable manufacturing essentially demands for optimal utilization of expensive and seldom used resources in modern manufacturing systems
Attempts made by researchers on development of motion planners for coordinated motion planning of multiple robots are reviewed to provide the basis for developing a flexible and generic approach that can address the generation of conflict free coordinated motion plan for multiple robots
This path is further used by coordination phase in order to resolve probable conflicts arising due to sharing of common workspace by multiple robot agents
Summary
The promising epitome of sustainable manufacturing essentially demands for optimal utilization of expensive and seldom used resources in modern manufacturing systems. Multi‐robot systems have inherent advantages like efficient sharing of resources, reduction in cycle time and optimal energy consumption. These aspects are of prime importance from sustainable manufacturing point of view where emphasis is on optimal use of resources and conservation of natural resources. Motion planning of multiple robots is still challenging since it has to address numerous important aspects ranging from modeling of workcell to optimal trajectory generation. A typical motion planning system for coordinated motion of multiple robots must essentially consider various aspects ranging from modeling of robots and the environment to the generation of optimal trajectory for achieving any specific task with multiple robots.
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