A constraint programming approach to simultaneous task allocation and motion scheduling for industrial dual-arm manipulation tasks

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Standard

A constraint programming approach to simultaneous task allocation and motion scheduling for industrial dual-arm manipulation tasks. / Behrens, Jan Kristof; Lange, Ralph; Mansouri, Masoumeh.

2019 International Conference on Robotics and Automation (ICRA) . IEEE Computer Society Press, 2019. p. 8705-8711 (International Conference on Robotics and Automation (ICRA) ).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Harvard

Behrens, JK, Lange, R & Mansouri, M 2019, A constraint programming approach to simultaneous task allocation and motion scheduling for industrial dual-arm manipulation tasks. in 2019 International Conference on Robotics and Automation (ICRA) . International Conference on Robotics and Automation (ICRA) , IEEE Computer Society Press, pp. 8705-8711, 2019 International Conference on Robotics and Automation (ICRA), Montreal, Canada, 20/05/19. https://doi.org/10.1109/ICRA.2019.8794022

APA

Behrens, J. K., Lange, R., & Mansouri, M. (2019). A constraint programming approach to simultaneous task allocation and motion scheduling for industrial dual-arm manipulation tasks. In 2019 International Conference on Robotics and Automation (ICRA) (pp. 8705-8711). (International Conference on Robotics and Automation (ICRA) ). IEEE Computer Society Press. https://doi.org/10.1109/ICRA.2019.8794022

Vancouver

Behrens JK, Lange R, Mansouri M. A constraint programming approach to simultaneous task allocation and motion scheduling for industrial dual-arm manipulation tasks. In 2019 International Conference on Robotics and Automation (ICRA) . IEEE Computer Society Press. 2019. p. 8705-8711. (International Conference on Robotics and Automation (ICRA) ). https://doi.org/10.1109/ICRA.2019.8794022

Author

Behrens, Jan Kristof ; Lange, Ralph ; Mansouri, Masoumeh. / A constraint programming approach to simultaneous task allocation and motion scheduling for industrial dual-arm manipulation tasks. 2019 International Conference on Robotics and Automation (ICRA) . IEEE Computer Society Press, 2019. pp. 8705-8711 (International Conference on Robotics and Automation (ICRA) ).

Bibtex

@inproceedings{5c1f18a7789f457aa1ae43e48584615d,
title = "A constraint programming approach to simultaneous task allocation and motion scheduling for industrial dual-arm manipulation tasks",
abstract = "Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. Low setup times - including the instructing/specifying of new tasks - are crucial to stay competitive. We propose a constraint programming approach to simultaneous task allocation and motion scheduling for such industrial manipulation and assembly tasks. Our approach covers the robot as well as connected machines. The key concept are Ordered Visiting Constraints, a descriptive and extensible model to specify such tasks with their spatiotemporal requirements and combinatorial or ordering constraints. Our solver integrates such task models and robot motion models into constraint optimization problems and solves them efficiently using various heuristics to produce makespan-optimized robot programs. For large manipulation tasks with 200 objects, our solver implemented using Google's Operations Research tools requires less than a minute to compute usable plans. The proposed task model is robot-independent and can easily be deployed to other robotic platforms. This portability is validated through several simulation-based experiments.",
author = "Behrens, {Jan Kristof} and Ralph Lange and Masoumeh Mansouri",
year = "2019",
month = may,
day = "20",
doi = "10.1109/ICRA.2019.8794022",
language = "English",
isbn = "9781538681763",
series = "International Conference on Robotics and Automation (ICRA) ",
publisher = "IEEE Computer Society Press",
pages = "8705--8711",
booktitle = "2019 International Conference on Robotics and Automation (ICRA)",
note = "2019 International Conference on Robotics and Automation (ICRA) ; Conference date: 20-05-2019 Through 24-05-2019",

}

RIS

TY - GEN

T1 - A constraint programming approach to simultaneous task allocation and motion scheduling for industrial dual-arm manipulation tasks

AU - Behrens, Jan Kristof

AU - Lange, Ralph

AU - Mansouri, Masoumeh

PY - 2019/5/20

Y1 - 2019/5/20

N2 - Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. Low setup times - including the instructing/specifying of new tasks - are crucial to stay competitive. We propose a constraint programming approach to simultaneous task allocation and motion scheduling for such industrial manipulation and assembly tasks. Our approach covers the robot as well as connected machines. The key concept are Ordered Visiting Constraints, a descriptive and extensible model to specify such tasks with their spatiotemporal requirements and combinatorial or ordering constraints. Our solver integrates such task models and robot motion models into constraint optimization problems and solves them efficiently using various heuristics to produce makespan-optimized robot programs. For large manipulation tasks with 200 objects, our solver implemented using Google's Operations Research tools requires less than a minute to compute usable plans. The proposed task model is robot-independent and can easily be deployed to other robotic platforms. This portability is validated through several simulation-based experiments.

AB - Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. Low setup times - including the instructing/specifying of new tasks - are crucial to stay competitive. We propose a constraint programming approach to simultaneous task allocation and motion scheduling for such industrial manipulation and assembly tasks. Our approach covers the robot as well as connected machines. The key concept are Ordered Visiting Constraints, a descriptive and extensible model to specify such tasks with their spatiotemporal requirements and combinatorial or ordering constraints. Our solver integrates such task models and robot motion models into constraint optimization problems and solves them efficiently using various heuristics to produce makespan-optimized robot programs. For large manipulation tasks with 200 objects, our solver implemented using Google's Operations Research tools requires less than a minute to compute usable plans. The proposed task model is robot-independent and can easily be deployed to other robotic platforms. This portability is validated through several simulation-based experiments.

UR - http://www.scopus.com/inward/record.url?scp=85071485177&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2019.8794022

DO - 10.1109/ICRA.2019.8794022

M3 - Conference contribution

SN - 9781538681763

T3 - International Conference on Robotics and Automation (ICRA)

SP - 8705

EP - 8711

BT - 2019 International Conference on Robotics and Automation (ICRA)

PB - IEEE Computer Society Press

T2 - 2019 International Conference on Robotics and Automation (ICRA)

Y2 - 20 May 2019 through 24 May 2019

ER -