技能序列规划用于协作式多机器人建造

中文摘要 AI 辅助

机器人在自动化建造流程方面具有巨大潜力。然而，它们在行业中的采用仍然有限，部分原因在于需要大量编程工作来使机器人适应各种任务。本文提出了一种技能序列规划方法，使异构的多功能机器人团队能够利用可复用的预编程技能（如抓取、钻孔和紧固）协作完成建造装配工作。中央控制器将建筑的数字表示转换为建造关系图，该图表示建造实体、其状态及其父子关系。基于此表示，系统选择下一个建造目标，为机器人团队中有能力的成员生成符号化的技能序列，并为技能执行生成无碰撞的几何运动规划。符号规划问题会随着建造状态的变化而动态重新生成。交互式数字孪生将规划好的技能序列和机器人状态呈现给人类同事，以供其在执行前进行审查和批准。该方法通过一个建造装配案例研究进行了评估。通过减少针对每个任务变体单独编程机器人的需求，所提出的方法支持建造中协作机器人团队更灵活的部署。

英文摘要

Robots have significant potential to automate construction processes. However, their industry adoption remains limited, partly because of the programming effort required to adapt robots to diverse tasks. This paper presents a skill sequence planning method that enables a heterogeneous team of multi-functional robots to collaboratively perform construction assembly work using reusable, preprogrammed skills such as grasping, drilling, and fastening. A central controller transforms the digital representation of the building into a construction relationship graph that represents construction entities, their states, and their parent-child relationships. Based on this representation, the system selects the next construction target, generates a symbolic sequence of skills for capable members of the robot team, and produces collision-free geometric motion plans for skill execution. The symbolic planning problem is dynamically regenerated as the construction state changes. An interactive digital twin presents the planned skill sequence and robot states to human co-workers for review and approval before execution. The method is evaluated through a construction assembly case study. By reducing the need to program robots separately for each task variation, the proposed approach supports more flexible deployment of collaborative robot teams in construction.

发表机构

• Texas A&M University（德克萨斯A&M大学）
• Amazon Robotics（亚马逊机器人）
• University of Michigan（密歇根大学）
• University of Tennessee（田纳西大学）

机构由 AI 辅助整理，请以论文原文为准。