On-Line Allocation Of Robot Resources To Task Plans

Damian M. Lyons

doi:10.1117/12.949143

9 February 1989 On-Line Allocation Of Robot Resources To Task Plans

Damian M. Lyons

Proceedings Volume 1008, Expert Robots for Industrial Use; (1989) https://doi.org/10.1117/12.949143
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

In this paper, I present an approach to representing plans that make on-line decisions about resource allocation. An on-line decision is the evaluation of a conditional expression involving sensory information as the plan is being executed. I use a plan representation called 7ZS10'1 1,12that has been especially designed for the domain of robot programming, and in particular, for the problem of on-line decisions. The resource allocation example is based on the robot assembly cell architecture outlined by Venkataraman and Lyons16. I begin by setting forth a definition of on-line decision making and some arguments as to why this form of decision making is important and useful. To set the context for the resource allocation example, I take some care in categorizing the types of on-line decision making and the approaches adopted by other workers so far. In particular, I justify a plan-based approach to the study of on-line decision making. From that, the focus shifts to one type of decision making: on-line allocation of robot resources to task plans. Robot resources are the physical manipulators (grippers, wrists, arms, feeders, etc) that are available to carry out the task. I formulate the assembly cell architecture of Venkataraman and Lyons16 as an R.S plan schema, and show how the on-line allocation specified in that architecture can be implemented. Finally, I show how considering the on-line allocation of logical resources, that is a physical resource plus some model information, can be used as a non-traditional approach to some problems in robot task planning.

Citation Download Citation

Damian M. Lyons "On-Line Allocation Of Robot Resources To Task Plans", Proc. SPIE 1008, Expert Robots for Industrial Use, (9 February 1989); https://doi.org/10.1117/12.949143

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