Authors: Isaac Ngui, Seongwon Lee, James Motes, Marco Morales, Nancy M. Amato

Abstract:
"This paper introduces a hierarchical approach to workstation-based task allocation and motion planning problems for on-demand and reconfigurable factory environments. This problem is composed of two sub-problems: workstation task planning and payload transportation. This hierarchical approach abstracts away workstation details during payload transportation and payload transportation details away during workstation task planning, enabling scalable planning for large numbers of robots and workstations. This hierarchical approach is expected to offer adaptable solutions for various workstation-based factory scenarios, promoting high throughput while maintaining flexibility." 

Unpublished