Multi-Robot Task Planning in Large Structure Manufacturing,

Using the tent manufacturing processes in place at Anchor Industries, we will develop and demonstrate the algorithms to plan complex multi-robot tasks, cooperative multi-robot planning, and error recovery if one or more of the robots becomes disabled. We will focus on manufacturing tasks identified by Anchor as those that require the most labor, time and/or cost. These operations are expected to be joining (RF welding, sewing, etc.) and inspection. The proposed work also has applications in the defense community. Our approach can be applied in any task involving multiple robots of different types operating in the same space at the same time.