Collaborative Decision-Making Models for Flexible Manufacturing Robotic System

摘要

The proposed paper analyses the modern approaches to collaborative robotics. There is proposed a new model of collaborative decision-making, based on predicate logics. The developed models use descriptions for group of robots, for workspace objects (monitored by distributed computer vision system), for problem-solving procedures, goals, specifications of robots and their sensor systems. While decision-making engine for single robot includes the problem- solver and operator schemes for actions, the decision-making for two robots will be defined by decision-making possibilities of each robot and role of robot in group. Here, the behavior of robot in a group will depend on technical specifications and ability to execute tasks of robotic team, of subordination and relations inside group, of workspace states specifications. Execution of tasks inside workspace of Flexible Manufacturing System is monitored by distributed computer vision system, which supplies additional feedbacks in general control system. Collaboration Decision-making Model is implemented by problem-solving software.