Decentralised vs partially centralised self-organisation model for mobile robots in large structure assembly
journal contributionposted on 20.09.2018, 12:25 by Spartak Ljasenko, Pedro FerreiraPedro Ferreira, Laura JusthamLaura Justham, Niels LohseNiels Lohse
Currently, manufacturing companies are heavily investing into the automation of manufacturing processes. The push to improve productivity and efficiency is increasing the demand for more flexible and adaptable solutions than the currently common dedicated automation systems. In this paper, the planning problem for mobile robots in large structure assembly was addressed. Despite near-optimal results, the previously developed hybrid agent behaviour model was found to lack responsiveness and scalability. For that reason, an alternative, fully decentralised agent behaviour model was developed and compared to the hybrid one. Through simulated experiments, it was found that the decentralised agent behaviour model achieved much higher responsiveness; however, it required additional spare capacity to compensate for its decision-making imperfections.
The authors acknowledge support from the EPSRC Centre for Innovative Manufacturing in Intelligent Automation, in undertaking this research work under grant reference number EP/IO33467/1.
- Mechanical, Electrical and Manufacturing Engineering