Multi-Agent System for Off-Line Coordinated Motion Planning of Multiple Industrial Robots

Author:

Chiddarwar Shital S.1,Babu N. Ramesh2

Affiliation:

1. Assistant Professor, Department of Mechanical Engineering, Shri Ramdeobaba Kamla Nehru Engineering College, Nagpur, Maharashtra, India

2. Professor, Manufacturing Engineering Section, Department of Mechanical Engineering, Indian Institute of Technology Madras, India

Abstract

This article presents an agent based framework for coordinated motion planning of multiple robots. The emerging paradigm of agent based systems is implemented to address various issues related to safe and fast task execution when multiple robots share a common workspace. In the proposed agent based framework, each issue vital for coordinated motion planning of multiple robots and every robot participating in coordinated task is considered as an agent. The identified agents are interfaced with each other in order to incorporate the desired flexibility in the developed framework. This framework gives a complete strategy for determination of optimal trajectories of robots working in coordination with due consideration to their kinematic, dynamic and payload constraint. The complete architecture of the proposed framework and the detailed discussion on various modules are covered in this paper.

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Cited by 8 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Sampled-Data Consensus Control of Nonlinear Multi-Agent Systems With Markovian Switching Topologies Based on Extended Looped Functional;IEEE Transactions on Circuits and Systems II: Express Briefs;2024-01

2. A Framework for Online and Offline Programming of Multi-Robot Cooperative Motion Planning;2023 9th International Conference on Mechatronics and Robotics Engineering (ICMRE);2023-02-10

3. Automated Cooperative Robot for Screwing Application;Advances in Intelligent Systems and Computing;2021

4. A survey of the consensus for multi-agent systems;Systems Science & Control Engineering;2019-01-01

5. A Two-Stage Approach to Path Planning and Collision Avoidance of Multibridge Machining Systems;IEEE Transactions on Systems, Man, and Cybernetics: Systems;2017-07

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