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Conference Paper: Integrated task scheduling and action planning/control for robotic systems based on a Max-Plus Algebra model
Title | Integrated task scheduling and action planning/control for robotic systems based on a Max-Plus Algebra model |
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Authors | |
Issue Date | 1997 |
Citation | IEEE International Conference on Intelligent Robots and Systems, 1997, v. 2, p. 926-931 How to Cite? |
Abstract | This 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 Identifier | http://hdl.handle.net/10722/212686 |
DC Field | Value | Language |
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dc.contributor.author | Xi, Ning | - |
dc.contributor.author | Tarn, Tzyh Jong | - |
dc.date.accessioned | 2015-07-28T04:04:41Z | - |
dc.date.available | 2015-07-28T04:04:41Z | - |
dc.date.issued | 1997 | - |
dc.identifier.citation | IEEE International Conference on Intelligent Robots and Systems, 1997, v. 2, p. 926-931 | - |
dc.identifier.uri | http://hdl.handle.net/10722/212686 | - |
dc.description.abstract | This 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.language | eng | - |
dc.relation.ispartof | IEEE International Conference on Intelligent Robots and Systems | - |
dc.title | Integrated task scheduling and action planning/control for robotic systems based on a Max-Plus Algebra model | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.scopus | eid_2-s2.0-0031388475 | - |
dc.identifier.volume | 2 | - |
dc.identifier.spage | 926 | - |
dc.identifier.epage | 931 | - |