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Hypergraphical Real-Time Multirobot Task Allocation in a Smart Factory
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AI
DOI：10.1109/TII.2021.3135297.png)
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Abstract
En 中文
To facilitate Industry 4.0 and smart manufacturing, smart factories shall flexibly achieve mass manufacture of on-demand individualized products. Reconfigurable multirobot system (MRS)-driven smart factories as a representative paradigm fulfill the above requirements through dynamically adjusting production flows while optimizing productivity and energy efficiency. This article innovates real-time multirobot task allocation to coordinate a heterogeneous MRS so that frequent reconfiguration brought by dynamic production demands can be answered. The challenges brought by frequent production flow adjustment are analyzed and addressed by proposing a hypergraph MRS model and a hypergraph search algorithm. The hypergraph MRS model is tailored to characterize temporal-spatial features and heterogeneity of the MRS, task assignments of production robots, and transportation paths of transportation robots. The hypergraph search algorithm fulfills the production demands, dual-objective dual-agent optimization of productivity and energy efficiency, and constant time complexity for real-time coordination. Computational experiments show that the proposed approach delivers effective task assignments of optimized MRS productivity and energy efficiency with robust performance.
Keywords:
Production
Task analysis
Robots
Transportation
Smart manufacturing
Robot kinematics
Real-time systems
Cyber-physical system (CPS)
hypergraph
Industry 4
0
multirobot system (MRS)
multirobot task allocation (MRTA)
smart factory
smart manufacturing
Journal
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9.9
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8.3K
Citations:
6.0W
