Distributed Multi-Robot Assembly/Packaging Algorithms

Five different algorithms for cooperation between assembly/packaging robots in a distributed system were developed and evaluated in simulation. Independent, autonomous operation of each robot was assumed. The goal was to maximize the number of assemblies while minimizing the standard deviation of the work between the different robots. Two of the algorithms, a fuzzy algorithm and a simple “take-what-you-can” algorithm were implemented on an experimental system. Experimental results indicated better performance for the simple algorithm in terms of the number of assemblies. However, the fuzzy algorithm reduces the standard deviation of work between the robots and therefore equalizes the robots’ utilization. Equal utilization is a major factor in multirobots systems, and contributes in decreasing mean time between failure (MTBF).