Complexity measures for distributed assembly tasks

摘要

We present complexity measures for distributed assembly tasks for a team of homogeneous robots with applications in intelligent construction and manufacturing. The objective is to define an appropriate metric to inform online partitioning of assembly tasks to maximize assembly parallelization. In this work, we consider the assembly of two-dimensional polygonal structures composed of homogeneous building blocks. We demonstrate our metric with different two dimensional assemblies and discuss briefly preliminary hardware results.