Multi-robot routing and scheduling with temporal logic and synchronization constraints
Proceedings of the 2019 2nd International Conference on Control and Robot Technology(2019)
摘要
We consider the problem of scheduling and planning the motion of a fleet of robots involved in semiconductor manufacturing. The robots are tasked with transporta-tion demands of goods that must be fulfilled according to given time constraints and synchronization rules. The de-mands and synchronization rules are specified using Time Window Temporal Logic (TWTL). Inspiring by model checking techniques, we develop a solution able to guar-antee to satisfy both demands and synchronization rules. The proposed approach is tested through simulation on a semiconductor production site of the European project" Power Semiconductor and Electronics Manufacturing 4.0-(SemI40)".
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