Design, Simulation and Operation of Task-oriented Multi-Robot

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Design, Simulation and Operation of Task-oriented Multi-Robot Applications with MATLAB/Stateflow Birger Freymann*, Sven Pawletta, Artur Schmidt, Thorsten Pawletta Hochschule Wismar – University of Applied Sciences: Technology, Business and Design, Research Group Computational Engineering and Automation, Philipp-Müller-Straße 14, 23966 Wismar, Germany; * [email protected]  6LPXODWLRQ1RWHV(XURSH61(  '2,VQHWQ 5HFHLYHG0D\5HYLVHG-XQH $FFHSWHG-XQH

Abstract. Robot programming software is mostly proprietary and cannot be used for other manufacturers’ robots. Nevertheless, there is a desire to allow interactions between robots being developed by different manufacturers in order to set up a Multi-Robot System (MRS). An MRS refers to a team consisting of interacting industrial robots which share skills to increase performance. The mapping of classical control development methods for Single-Robot Systems (SRSs) to MRSs is difficult. Based on a classification of interactions within MRSs, a TaskOriented Control (TOC) approach is suggested and examined. Furthermore, with Simulation Based Control (SBC) an approach for continuous development of event-driven multi-robot controls according to the Rapid Control Prototyping (RCP) is presented. SBC supports TOC and the mapping of interactions via tasks. Based on SBC and MATLAB/Stateflow a prototypical, task-oriented model library for interacting robots is developed and tested.

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 Figure 1: Principle structure of an RCV-based multi-robot application.

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 Figure 2: Tasks and subtasks of transport problem.

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 Figure 3: Processing of a TOC according to [8].

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Figure 4: The SBC approach.



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 Figure 5: Use of TOC and RCV Toolbox within the SBC Framework.

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Discussion

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 Figure 6: Example of an MRS with two industrial robots.

2.2

Classification

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 Figure 8: Experimental setup of the case study.

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Figure 9: Workflow of two robots doing task

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 Figure 10: Task composition for both robots.

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Figure 12: Statechart of PM based on SBC Framework.





Figure 13: Statechart of IM based on SBC Framework.





 Figure 11: Statechart of CM based on SBC Framework.

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Task-oriented Multi-Robot Applications with MATLAB/Stateflow

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