The electric arc furnace (EAF) is used to produce high quality steel from steel scraps. The EAF uses plasma arc to generate heat for melting scarp or direct reduced iron (DRI). The liquid metal should be drained from the tap hole. Manual tapping operation of the EAF in the hot environment around the furnace is a potentially dangerous and time consuming task for the workers. Therefore, it is ess...

One of most important aspects in the design of multi-robot systems is the allocation of tasks among the robots in a productive and efficient manner. Task allocation methodologies must ensure that not only the global mission is achieved, but also the tasks are well distributed among the robots. An effective task allocation approach considers the available resources, the entities to optimize (tim...

This paper provides a decentralized solution to multirobot coordination in partially-known environments where the problems of task assignment, trajectory planning and safe control are concurrently solved in the presence of communication constraints. We assume that the robots are homogeneous (any robot is capable of completing any assigned task), can localize themselves and have access to a know...

Abstract Task planning is a crucial component in facilitating robot multi-task manipulations. Language-based task methods offer practicality receiving commands from humans real-life scenarios and require only low-cost labeled data. However, existing often rely on sequence models for planning, which primarily focus mapping language to sequences of sub-tasks while neglecting the knowledge about t...

This paper studies the problem of forming coalitions for dynamic tasks in multirobot systems. As robots either individually or in groups – encounter new tasks for which individual or group resources do not suffice, robot coalitions that are collectively capable of meeting these requirements need to be formed. We propose an approach where such tasks are reported to a task coordinator that is res...

This paper proposes a method of defining and analysing robotic tasks using Petri Nets. Both the robot behaviors and environment are modelled using Generalized Stochastic Petri Nets (GSPNs). Each action is modelled separately and composed with others to provide a complete task execution. The use of Petri Nets allows the qualitative and quantitative analysis of the task execution.

For humanoid robots to be accepted as partners with humans they will be expected to learn quickly and adapt to environment changes in ways similar to humans. Within a single task there may be many things that can change as humans interact with the robot. The placement of items within the workspace, the physics of the environment, and the reaction of the human to the robot’s movements are some e...

Robots that manipulate everyday tools in unstructured, human settings could more easily work with people and perform tasks that are important to people. Task demonstration could serve as an intuitive way for people to program robots to perform tasks. By focusing on task-relevant features during both the demonstration and the execution of a task, a robot could more robustly emulate the important...