Robot Skill Footprint Planning for Conflict-Free Concurrent Actions
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Manual programming of robotic movements in robotics planning is tedious, time-consuming, and error-prone, and existing systems struggle to generate conflict-free schedules for multiple robots in different workcells with varying physical properties.
Innovation Solution
A system that generates conflict-free skill plans by using skill footprints for deconfliction evaluation, allowing concurrent execution of skills without interference, and adapts to real-time operating conditions, enabling efficient and safe execution of tasks across different workcell environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If manual programming is used to dictate robotic movements, then task execution can be precisely controlled, but the programming process becomes tedious, time-consuming, and error-prone
Solution Approach 1:
The system enables robots to automatically generate their own motion plans by defining skills with entry/exit conditions and footprints. The planning system autonomously sequences skills and resolves conflicts without manual programming, allowing the robotic system to self-organize task execution while maintaining precision through structured skill definitions.
Solution Approach 2:
The patent segments complex robotic tasks into reusable skill modules, each with defined entry conditions, exit conditions, and footprints. This segmentation allows automatic sequencing and conflict resolution at the skill level rather than requiring manual programming of individual movements, significantly reducing programming time while maintaining execution precision.
2Adaptability or versatility
If manual programming is used for each workcell, then tasks can be customized for specific physical properties, but the programming cannot be reused across workcells with different robots or dimensions
Solution Approach 1:
The skill definition framework provides universal interfaces (entry conditions, exit conditions, footprints) that can be applied across different workcells and robot configurations. Skills defined with these standardized interfaces can be automatically sequenced and adapted to various physical environments without reprogramming, enabling reuse across multiple workcells while maintaining customization through skill selection and parameter adjustment.
Solution Approach 2:
The system dynamically adapts skill sequences to match specific workcell configurations and robot capabilities. The automatic planning system adjusts skill execution based on real-time conditions, robot availability, and workcell constraints, allowing the same skill library to serve multiple workcells with different physical properties without manual reprogramming.
3Productivity
If multiple robots are assigned to perform actions concurrently, then productivity increases, but conflicts occur when robots approach overlapping regions or use common tools
Solution Approach 1:
The planning system acts as an intermediary that automatically sequences skills and resolves conflicts between multiple robots before execution. By evaluating skill footprints and dependencies, the system mediates potential conflicts in overlapping regions or tool usage, allowing concurrent execution of non-conflicting skills while maintaining reliability through automatic conflict detection and resolution.
Solution Approach 2:
The system performs preliminary conflict detection and resolution during skill plan generation, before actual robot execution. By pre-evaluating skill sequences and identifying potential conflicts in resource usage or spatial overlap, the system prepares conflict-free execution plans that maximize concurrent robot operation while ensuring reliable, conflict-free task completion.
4Productivity
If sequential actions are assigned for concurrent execution to improve efficiency, then productivity increases, but errors occur when prerequisite actions are not completed
Solution Approach 1:
The skill definition includes explicit entry conditions and exit conditions that provide feedback mechanisms for dependency verification. The planning system uses these conditions to automatically verify that prerequisite skills are completed before subsequent skills can execute, ensuring reliable task sequencing while allowing efficient concurrent execution of independent skill sets.
Solution Approach 2:
The system preliminarily evaluates skill dependencies and prerequisites during plan generation, identifying which skills can be executed concurrently and which must follow specific sequences. By pre-establishing the valid execution order based on entry/exit conditions, the system enables efficient concurrent execution of independent skills while guaranteeing that prerequisite dependencies are satisfied before dependent skills begin.
Data Source
AI summary
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for robotics planning. One of the methods comprises receiving data defining multiple skills to be performed by one or more robots in an operating environment; invoking a projection function implemented by each skill, wherein the projection function generates a skill footprint specifying resources requested for performing the skill and a volume occupied by a corresponding entity used to perform the skill; determining that the skill footprints generated by the projection functions are in conflict; and in response, executing the skills in sequence.