Technical University of Berlin

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SCAMO: Scalable task and motion planning in multi-robot systems using cloud services (Plánování v multi­robotických systémech s využitím cloudových technologií)

In this project we investigate methods for fast task and motion planning using cloud-based services. The project is motivated by the industrial bin-picking scenario. In this scenario, the task of the robots is to unload objects from container. We consider the randomized version of the problem, where positions/orientations of the objects are not known in advance and therefore trajectories for the robots cannot be computed in advance. Besides development of new task and motion planning methods, we employ cloud-based computing.

The project is realized with Prof. Dr.-Ing. Jörg Krüger, and Dipl.-Ing. Axel Vick from Faculty V of Mechanical Engineering and Transport Systems, Department of Machine Tools and Factory Management,Industrial Automation Technology Group, Berlin, Germany.

Project supported by MSMT-Mobiltiy and DAAD.


Publications:

  1. V Vonasek, A Vick and M Saska. Motion planning with motion primitives for industrial bin picking. In 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA). 2017. PDF BibTeX

    @inproceedings{vonasek2017mp,
    	author = "V. Vonasek and A. Vick and M. Saska",
    	booktitle = "22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)",
    	title = "Motion planning with motion primitives for industrial bin picking",
    	year = 2017,
    	pdf = "data/papers/vonasek2017mp.pdf"
    }
    
  2. Vojtěch Vonásek, Axel Vick and Jörg Krüger. Distributed Motion Planning for Industrial Random Bin Picking. Procedia CIRP 76:121 - 126, 2018. URL, DOI BibTeX

    @article{vonasek2018distributed,
    	title = "Distributed Motion Planning for Industrial Random Bin Picking",
    	journal = "Procedia CIRP",
    	volume = 76,
    	pages = "121 - 126",
    	year = 2018,
    	note = "7th CIRP Conference on Assembly Technologies and Systems (CATS 2018)",
    	issn = "2212-8271",
    	doi = "https://doi.org/10.1016/j.procir.2018.01.039",
    	url = "http://www.sciencedirect.com/science/article/pii/S2212827118301057",
    	author = "Vojtěch Vonásek and Axel Vick and Jörg Krüger",
    	keywords = "Industrial Robot Path Planning, Cloud Robotics, Distributed Control, Sampling-based motion planning"
    }
    
  3. Axel Vick, Vojtech Vonasek, Robert Penicka and Jorg Kruger. Robot control as a service - Towards cloud-based motion planning and control for industrial robots. In Robot Motion and Control (RoMoCo), 2015 10th International Workshop on. July 2015, 33-39. URL PDF, DOI BibTeX

    @inproceedings{7219710,
    	author = "Vick, Axel and Vonasek, Vojtech and Penicka, Robert and Kruger, Jorg",
    	booktitle = "Robot Motion and Control (RoMoCo), 2015 10th International Workshop on",
    	title = "Robot control as a service - Towards cloud-based motion planning and control for industrial robots",
    	year = 2015,
    	pages = "33-39",
    	keywords = "Collision avoidance;Interpolation;Planning;Robot kinematics;Robot sensing systems;Service robots",
    	doi = "10.1109/RoMoCo.2015.7219710",
    	month = "July",
    	url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7219710",
    	pdf = "data/papers/romoco2015-rcaas.pdf"
    }