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Conference Paper: Integrated task scheduling and action planning/control for robotic systems based on a Max-Plus Algebra model

TitleIntegrated task scheduling and action planning/control for robotic systems based on a Max-Plus Algebra model
Authors
Issue Date1997
Citation
IEEE International Conference on Intelligent Robots and Systems, 1997, v. 2, p. 926-931 How to Cite?
AbstractThis paper presents a new paradigm for task scheduling and action planning/control of a robotic system. Based on the proposed Max-Plus Algebra model, a robotic task involving both discrete and continuous actions can be scheduled, planned and controlled in a perceptive reference frame. Therefore, task scheduling, which usually deals with discrete type of events, as well as action planning, which usually deals with continuous events, can be treated systematically in a unified framework. More importantly, the unique feature of this approach is that interactions between discrete and continuous events can be considered in the same framework. As a result the efficiency, robustness and reliability of the task schedule and action plan can increase significantly. A typical assembly task in a dual-robot manufacturing work-cell is used to illustrate the proposed approach. The experimental results clearly demonstrate the advantages of the proposed approach.
Persistent Identifierhttp://hdl.handle.net/10722/212686

 

DC FieldValueLanguage
dc.contributor.authorXi, Ning-
dc.contributor.authorTarn, Tzyh Jong-
dc.date.accessioned2015-07-28T04:04:41Z-
dc.date.available2015-07-28T04:04:41Z-
dc.date.issued1997-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 1997, v. 2, p. 926-931-
dc.identifier.urihttp://hdl.handle.net/10722/212686-
dc.description.abstractThis paper presents a new paradigm for task scheduling and action planning/control of a robotic system. Based on the proposed Max-Plus Algebra model, a robotic task involving both discrete and continuous actions can be scheduled, planned and controlled in a perceptive reference frame. Therefore, task scheduling, which usually deals with discrete type of events, as well as action planning, which usually deals with continuous events, can be treated systematically in a unified framework. More importantly, the unique feature of this approach is that interactions between discrete and continuous events can be considered in the same framework. As a result the efficiency, robustness and reliability of the task schedule and action plan can increase significantly. A typical assembly task in a dual-robot manufacturing work-cell is used to illustrate the proposed approach. The experimental results clearly demonstrate the advantages of the proposed approach.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.titleIntegrated task scheduling and action planning/control for robotic systems based on a Max-Plus Algebra model-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0031388475-
dc.identifier.volume2-
dc.identifier.spage926-
dc.identifier.epage931-

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