Time-Optimal Path Planning for Heterogeneous Robots in Swarm Manufacturing

dc.creatorStone, Ronnie F.P.
dc.creatorWang, Junmin
dc.creatorSha, Zhenghui
dc.date.accessioned2024-03-26T22:54:51Z
dc.date.available2024-03-26T22:54:51Z
dc.date.issued2023
dc.description.abstractTime-optimal path planning is a critical problem in any system employing mobile robots. Much of the literature on this problem operates under two major assumptions: the environment is static, and the robots’ effective shapes are constant and discretized either as a circle or a sphere, disregarding the impact of the robot’s orientation on the overall task. These assumptions are restrictive in swarm manufacturing, where the environment is dynamically changing and manufacturing robots have geometric constraints for operation. For example, robots can not only move but also change their effective shapes depending on the parts they carry or the material deposited. These variations can significantly impact the path-planning solution. In this paper, we propose a methodology to find time-optimal paths in swarm manufacturing while explicitly considering the effective and changing shapes of mobile robots and the dynamic obstacles surrounding them.
dc.description.departmentMechanical Engineering
dc.identifier.urihttps://hdl.handle.net/2152/124435
dc.identifier.urihttps://doi.org/10.26153/tsw/51043
dc.language.isoen_US
dc.publisherUniversity of Texas at Austin
dc.relation.ispartof2023 International Solid Freeform Fabrication Symposium
dc.rights.restrictionOpen
dc.subjectautonomous robotics systems
dc.subjectmobile robots
dc.subjecttrajectory and path planning
dc.subjectintelligent manufacturing systems
dc.subjectswarm manufacturing
dc.titleTime-Optimal Path Planning for Heterogeneous Robots in Swarm Manufacturing
dc.typeConference paper

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