Naslov
A multiagent framework for industrial robotic applications

Autori
Švaco, Marko ; Šekoranja, Bojan ; Jerbić, Bojan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Procedia Computer Science 6 / Cihan H. Dagli - , 2011, 291-296

Skup
Complex Adaptive Systems

Mjesto i datum
Chicago (IL), Sjedinjene Američke Države, 31.10.2011. - 02.11.2011

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
distributed robotic systems; multiagent systems; assembly technology

Sažetak
The paper presents a novel approach toward modeling and governing complex system behavior in flexible and adaptive robotic assembly systems. A fully distributed multiagent approach is implemented for autonomous control. The system is defined at multiple levels of granularity where agents provide services in respect to the current global goal. A decentralized multiagent approach is adopted for reasons of flexibility and fault tolerance embedded in the design phase. To prove the concept a robotic application for intelligent assembly is presented and discussed. It consists of multiple industrial robots equipped with force/torque sensors, 2D and 3D vision systems, automatic tool changers and other sensors and actuators. Through fusion of sensory input and mutual communication agents construct and negotiate an assembly plan and reconfigure respectively.

Izvorni jezik
Engleski

Znanstvena područja
Matematika, Računarstvo, Strojarstvo

Napomena
Rad je kao predavanje prezentiran na međunarodnoj konferenciji Complex Adaptive Systems održanoj u SAD-u, Chicago, 31.10-02.11.2011.

POVEZANOST RADA