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- W3205890605 abstract "The application of robotic solutions to small-batch production is challenging: economical constraints tend to dramatically limit the time for setting up new batches. Organizing robot tasks into modular software components, called skills, and allowing the assignment of multiple concurrent tasks to a single robot is potentially game-changing. However, due to cycle time constraints, it may be necessary for a skill to take over without waiting on another to terminate, and the available literature lacks a systematic approach in this case. In the present article, we fill the gap by (a) establishing the specifications of skills that can be sequenced with partial executions, (b) proposing an implementation based on the combination of finite-state machines and behavior trees, and (c) demonstrating the benefits of such skills through extensive trials in the environment of ARIAC (Agile Robotics for Industrial Automation Competition)." @default.
- W3205890605 created "2021-10-25" @default.
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- W3205890605 date "2021-05-30" @default.
- W3205890605 modified "2023-10-17" @default.
- W3205890605 title "Productive Multitasking for Industrial Robots" @default.
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- W3205890605 doi "https://doi.org/10.1109/icra48506.2021.9561266" @default.
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