Task management in a multi-robot environment |
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| Affiliation: | 1. Staff Surgeon, Oral and Maxillofacial Surgery Unit, Department of Plastic and Maxillofacial Surgery, University Hospital Clínic, Barcelona University, Barcelona, Spain;2. Staff Surgeon, Oral and Maxillofacial Surgery Unit, Department of Plastic and Maxillofacial Surgery, University Hospital Clínic, Barcelona University, Barcelona, Spain;3. Staff surgeon, Oral and Maxillofacial Surgery Unit, Department of Pediatric Surgery, University Hospital Sant Joan de Déu, Barcelona University, Esplugues de Llobregat, Barcelona, Spain;4. Attending physician, El Centro de Investigación Biomédica en Red de Enfermedades Raras U714, Unidad de Cultivos Celulares e Ingeniería Tisular, Centro Comunitario de Sangre y Tejidos del Principado de Asturias, Oviedo, Spain;6. Staff Surgeon, Oral and Maxillofacial Surgery Unit, Department of Plastic and Maxillofacial Surgery, University Hospital Clínic, Barcelona University, Barcelona, Spain;5. Attending dentist, Clinica Vilagran, Private Dental Practice, Badalona, Barcelona, Spain;1. School of Aerospace, Mechanical and Mechatronic Engineering, The University of Sydney, NSW 2006, Australia;2. Faculty of Dentistry, The University of Sydney, NSW 2006, Australia;1. Department of oral and maxillofacial surgery, Lille university hospital, avenue du Professeur-Emile-Laine, 59037 Lille cedex, France;2. Department of radiology, oncologic center Oscar-Lambret, Lille, France;3. Department of pathology, oncologic center Oscar-Lambret, Lille, France;4. Head and neck department, oncologic center Oscar-Lambret, Lille, France;1. School of Electric and Information Engineering, Beijing Jiaotong University, Beijing 100044, China;2. College of Automation and Electrical Engineering of Qingdao University, China;3. National Experimental Center for Electrics and Electronics (Qingdao University), China;4. National Engineering Research Center of Rail Transportation Operation and Control System, Beijing Jiaotong University, Beijing 100044, China;5. Standards& Metrology Research Institute, China Academy of Railway Sciences, Beijing, 100081, China;1. Private Practice, Salvador, Bahia, Brazil;2. Department of Pediatrics and Orthodontics, Faculdade de Odontologia de Araraquara, Universidade Estadual Paulista, Araraquara, São Paulo, Brazil;3. Private Practice, Salvador, Bahia, Brazil;4. Graduate dentistry program in orthodontics, Pontifícia Universidade Católica do Paraná, Curitiba, Paraná, Brazil;5. Private practice, Araraquara, São Paulo, Brazil; Program of Orthodontics, Faculdade de Odontologia de Araraquara, Universidade Estadual Paulista, Araraquara, São Paulo, Brazil |
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| Abstract: | Contemporary computer technology allows robotic cells to communicate and cooperate. However, this expanded functionality requires more intelligence and better management of the cooperating robots.This paper presents a software methodology to accommodate real time constraints imposed by cooperating robots, or any other task related constraint. This methodology is general and is capable of handling a large variety of exceptions such as task failures, sensor interruptions, and equipment failures. The methodology presented treats exceptions as tasks with special features; hence, the methodology expands into task management in a general robotic cell.The methodology can accommodate failures independent of any hardware. In addition to the obvious functional benefits, this approach also allows easier development of robotic tasks, and improved portability of tasks among systems.The methodology is demonstrated using an example with two cooperating robots. |
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