26
I. Chatzikonstantinou et al.
In [8], authors consider the assembly line problem where there is a possibility
that human and robots can simultaneously execute tasks at the same workpiece
either in parallel or in collaboration. Authors present a MILP problem formulation which concerns both assignment of agents (workers, robots) to workstations, as well as task assignment to each agent. To solve the proposed problem,
authors propose a Genetic Algorithm (GA) approach. Even though said work
does address assignment of humans and robots to workstation performing collaborative tasks, still there is no consideration of ditributing resources among
several workstations, as the present work introduces.
In [9], authors propose an optimization framework that generates task assignments and schedules for a human–robot team with the goal of improving both
time and ergonomics. Authors treat the time-ergonomics optimization as a biobjective problem and perform a real-world task execution comparison between
single-worker operation and worker-robot collaborative operation. Subsequently,
they use collected data to optimize human and robot task allocation.
In [10], authors consider robot team planning for spatially separated information gathering and situational awareness tasks with the goal of minimizing
the expected mission completion time. The proposed planning approach focuses
on the handling of contingency tasks, which are unexpected situations that
adversely interfere with mission execution. Authors present results from a series
of comparisons among different heuristics used to schedule multi-agent robotic
tasks.
2.2 The Role of Topological Organization
As it has been previously mentioned, an efficient topological organization within
the factory floor, including distributed task assignment, plays an important role
in achieving efficiency of the overall factory floor process. There are a series of
works that have focused on this issue in literature.
In [11], authors propose a decision making framework for HRC workplace layout generation. Authors distinguish between passive and active resources, passive being resources such as tools and workstations, and active being robots and
workers. Evaluation of layout alternatives is based on multiple criteria, namely:
Workspace area, reachability and ergonomics, for each of which authors present
objective function formulations. Finally, authors present a case study for the
proposed approach.
In [12], authors discuss the implementation of an HRC work cell through the
use of lean techniques. The paper proposes a hierarchical approach to the design
of HRC cells, starting from organization level down to process and detailed
design. In addition, authors present a series of commonly occurring lean rules
and apply those in deriving a methodology for HRC cell design, and for task
assignment and scheduling.
In [13], authors propose a model-based methodology to aid the layout design
of a collaborative HRC work cell. Authors consider several aspects in optimizing
layout such as geometric properties of the workspace, robot reach, ergonomics
etc. Authors make use of inverse kinematics to establish both robot reach but
I. Chatzikonstantinou et al.
In [8], authors consider the assembly line problem where there is a possibility
that human and robots can simultaneously execute tasks at the same workpiece
either in parallel or in collaboration. Authors present a MILP problem formulation which concerns both assignment of agents (workers, robots) to workstations, as well as task assignment to each agent. To solve the proposed problem,
authors propose a Genetic Algorithm (GA) approach. Even though said work
does address assignment of humans and robots to workstation performing collaborative tasks, still there is no consideration of ditributing resources among
several workstations, as the present work introduces.
In [9], authors propose an optimization framework that generates task assignments and schedules for a human–robot team with the goal of improving both
time and ergonomics. Authors treat the time-ergonomics optimization as a biobjective problem and perform a real-world task execution comparison between
single-worker operation and worker-robot collaborative operation. Subsequently,
they use collected data to optimize human and robot task allocation.
In [10], authors consider robot team planning for spatially separated information gathering and situational awareness tasks with the goal of minimizing
the expected mission completion time. The proposed planning approach focuses
on the handling of contingency tasks, which are unexpected situations that
adversely interfere with mission execution. Authors present results from a series
of comparisons among different heuristics used to schedule multi-agent robotic
tasks.
2.2 The Role of Topological Organization
As it has been previously mentioned, an efficient topological organization within
the factory floor, including distributed task assignment, plays an important role
in achieving efficiency of the overall factory floor process. There are a series of
works that have focused on this issue in literature.
In [11], authors propose a decision making framework for HRC workplace layout generation. Authors distinguish between passive and active resources, passive being resources such as tools and workstations, and active being robots and
workers. Evaluation of layout alternatives is based on multiple criteria, namely:
Workspace area, reachability and ergonomics, for each of which authors present
objective function formulations. Finally, authors present a case study for the
proposed approach.
In [12], authors discuss the implementation of an HRC work cell through the
use of lean techniques. The paper proposes a hierarchical approach to the design
of HRC cells, starting from organization level down to process and detailed
design. In addition, authors present a series of commonly occurring lean rules
and apply those in deriving a methodology for HRC cell design, and for task
assignment and scheduling.
In [13], authors propose a model-based methodology to aid the layout design
of a collaborative HRC work cell. Authors consider several aspects in optimizing
layout such as geometric properties of the workspace, robot reach, ergonomics
etc. Authors make use of inverse kinematics to establish both robot reach but