LASER: 時空間制約下のマルチロボット木材製造のためのレベルベース非同期スケジューリング実行方式
LASER: Level-Based Asynchronous Scheduling and Execution Regime for Spatiotemporally Constrained Multi-Robot Timber Manufacturing
木材スラブ製造のねじ圧着接着作業を対象に、タスクを時空間的に分離した「レベル」に分割し、レベル内では非同期並列実行、レベル間でのみ同期することで衝突回避と時間制約を両立するスケジューリング・実行フレームワークを提案し、2ロボットで実証した。
詳しい要約
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著者: Zhenxiang Huang, Lior Skoury, Tim Stark, Aaron Wagner, Hans Jakob Wagner, Thomas Wortmann, Achim Menges
分類: cs.RO, cs.MA
原文アブストラクト
Automating large-scale manufacturing in domains like timber construction requires multi-robot systems to manage tightly coupled spatiotemporal constraints, such as collision avoidance and process-driven deadlines. This paper introduces LASER (Level-based Asynchronous Scheduling and Execution Regime), a complete framework for scheduling and executing complex assembly tasks, demonstrated on a screw-press gluing application for timber slab manufacturing. Our central contribution is to integrate a barrier-based mechanism into a constraint programming (CP) scheduling formulation that partitions tasks into spatiotemporally disjoint sets, which we define as levels. This structure enables robots to execute tasks in parallel and asynchronously within a level, synchronizing only at level barriers, which guarantees collision-free operation by construction and provides robustness to timing uncertainties. To solve this formulation for large problems, we propose two specialized algorithms: an iterative temporal-relaxation approach for heterogeneous task sequences and a bi-level decomposition for homogeneous tasks that balances workload. We validate the LASER framework by fabricating a full-scale 2.4m x 6m timber slab with a two-robot system mounted on parallel linear tracks, successfully coordinating 108 subroutines and 352 screws under tight adhesive time windows. Computational studies show our method scales steadily with size compared to a monolithic approach.
