Entropy-based coordination for maintenance tasks of an autonomous mobile robot system

Tapio Heikkilä; Eric Halbach; Jukka Koskinen; Janne Saukkoriipi

doi:10.1109/INDIN51773.2022.9976070

Entropy-based coordination for maintenance tasks of an autonomous mobile robot system

Tapio Heikkilä^*, Eric Halbach, Jukka Koskinen, Janne Saukkoriipi

^*Corresponding author for this work

BA5602 Intelligent robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

2 Citations (Scopus)

Abstract

Maintenance tasks represent a potential area for applying multi-purpose Autonomous Mobile Robots (AMRs). Intelligent control and coordination of such a system is challenging and optimization methods are feasible only for small fleets. Decentralized control can provide flexibility and robustness, which are better applicable also for large fleets, though with less guaranteed performance. Our focus is on flexibility and robustness in task scheduling and task assignments and we use entropy as an indirect performance criterion for coordination, both at the system level (maximize entropy) and at the AMR level (minimize entropy). As a distributed coordination scheme, we use a modified contract negotiation protocol. We show preliminarily the feasibility of our approach with simulation results.

Original language	English
Title of host publication	2022 IEEE 20th International Conference on Industrial Informatics, INDIN 2022
Publisher	IEEE Institute of Electrical and Electronic Engineers
Pages	380-386
ISBN (Electronic)	978-1-7281-7568-3
ISBN (Print)	978-1-7281-7569-0
DOIs	https://doi.org/10.1109/INDIN51773.2022.9976070
Publication status	Published - 15 Dec 2022
MoE publication type	A4 Article in a conference publication
Event	20th IEEE International Conference on Industrial Informatics, INDIN 2022 - Online, Perth, Australia Duration: 25 Jul 2022 → 28 Jul 2022 https://2022.ieee-indin.org/

Conference

Conference	20th IEEE International Conference on Industrial Informatics, INDIN 2022
Country/Territory	Australia
City	Perth
Period	25/07/22 → 28/07/22
Internet address	https://2022.ieee-indin.org/

Keywords

autonomous
mobile robot fleet
entropy

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/INDIN51773.2022.9976070

Cite this

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title = "Entropy-based coordination for maintenance tasks of an autonomous mobile robot system",

abstract = "Maintenance tasks represent a potential area for applying multi-purpose Autonomous Mobile Robots (AMRs). Intelligent control and coordination of such a system is challenging and optimization methods are feasible only for small fleets. Decentralized control can provide flexibility and robustness, which are better applicable also for large fleets, though with less guaranteed performance. Our focus is on flexibility and robustness in task scheduling and task assignments and we use entropy as an indirect performance criterion for coordination, both at the system level (maximize entropy) and at the AMR level (minimize entropy). As a distributed coordination scheme, we use a modified contract negotiation protocol. We show preliminarily the feasibility of our approach with simulation results.",

keywords = "autonomous, mobile robot fleet, entropy",

author = "Tapio Heikkil{\"a} and Eric Halbach and Jukka Koskinen and Janne Saukkoriipi",

year = "2022",

month = dec,

day = "15",

doi = "10.1109/INDIN51773.2022.9976070",

language = "English",

isbn = "978-1-7281-7569-0",

pages = "380--386",

booktitle = "2022 IEEE 20th International Conference on Industrial Informatics, INDIN 2022",

publisher = "IEEE Institute of Electrical and Electronic Engineers",

address = "United States",

note = "20th IEEE International Conference on Industrial Informatics, INDIN 2022 ; Conference date: 25-07-2022 Through 28-07-2022",

url = "https://2022.ieee-indin.org/",

}

Heikkilä, T , Halbach, E , Koskinen, J & Saukkoriipi, J 2022, Entropy-based coordination for maintenance tasks of an autonomous mobile robot system. in 2022 IEEE 20th International Conference on Industrial Informatics, INDIN 2022. IEEE Institute of Electrical and Electronic Engineers, pp. 380-386, 20th IEEE International Conference on Industrial Informatics, INDIN 2022, Perth, Australia, 25/07/22. https://doi.org/10.1109/INDIN51773.2022.9976070

Entropy-based coordination for maintenance tasks of an autonomous mobile robot system. / Heikkilä, Tapio ; Halbach, Eric ; Koskinen, Jukka et al.
2022 IEEE 20th International Conference on Industrial Informatics, INDIN 2022. IEEE Institute of Electrical and Electronic Engineers, 2022. p. 380-386.

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

TY - GEN

T1 - Entropy-based coordination for maintenance tasks of an autonomous mobile robot system

AU - Heikkilä, Tapio

AU - Halbach, Eric

AU - Koskinen, Jukka

AU - Saukkoriipi, Janne

PY - 2022/12/15

Y1 - 2022/12/15

N2 - Maintenance tasks represent a potential area for applying multi-purpose Autonomous Mobile Robots (AMRs). Intelligent control and coordination of such a system is challenging and optimization methods are feasible only for small fleets. Decentralized control can provide flexibility and robustness, which are better applicable also for large fleets, though with less guaranteed performance. Our focus is on flexibility and robustness in task scheduling and task assignments and we use entropy as an indirect performance criterion for coordination, both at the system level (maximize entropy) and at the AMR level (minimize entropy). As a distributed coordination scheme, we use a modified contract negotiation protocol. We show preliminarily the feasibility of our approach with simulation results.

AB - Maintenance tasks represent a potential area for applying multi-purpose Autonomous Mobile Robots (AMRs). Intelligent control and coordination of such a system is challenging and optimization methods are feasible only for small fleets. Decentralized control can provide flexibility and robustness, which are better applicable also for large fleets, though with less guaranteed performance. Our focus is on flexibility and robustness in task scheduling and task assignments and we use entropy as an indirect performance criterion for coordination, both at the system level (maximize entropy) and at the AMR level (minimize entropy). As a distributed coordination scheme, we use a modified contract negotiation protocol. We show preliminarily the feasibility of our approach with simulation results.

KW - autonomous

KW - mobile robot fleet

KW - entropy

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U2 - 10.1109/INDIN51773.2022.9976070

DO - 10.1109/INDIN51773.2022.9976070

M3 - Conference article in proceedings

SN - 978-1-7281-7569-0

SP - 380

EP - 386

BT - 2022 IEEE 20th International Conference on Industrial Informatics, INDIN 2022

PB - IEEE Institute of Electrical and Electronic Engineers

T2 - 20th IEEE International Conference on Industrial Informatics, INDIN 2022

Y2 - 25 July 2022 through 28 July 2022

ER -

Entropy-based coordination for maintenance tasks of an autonomous mobile robot system

Abstract

Conference

Keywords

UN SDGs

Access to Document

Other files and links

Fingerprint

AURORA: Autonomous Performance Management in Digital Manufacturing

Cite this

Entropy-based coordination for maintenance tasks of an autonomous mobile robot system

Abstract

Conference

Keywords

UN SDGs

Access to Document

Other files and links

Fingerprint

Projects

AURORA: Autonomous Performance Management in Digital Manufacturing

Cite this