Title: Hierarchical Planning and Scheduling for Reconfigurable Multi-Robot Disassembly Systems under Structural Constraints Show Chinese title

Title: 基于结构约束的可重构多机器人拆卸系统的分层规划与调度

Abstract: This study presents a system integration approach for planning schedules, sequences, tasks, and motions for reconfigurable robots to automatically disassemble constrained structures in a non-destructive manner. Such systems must adapt their configuration and coordination to the target structure, but the large and complex search space makes them prone to local optima. To address this, we integrate multiple robot arms equipped with different types of tools, together with a rotary stage, into a reconfigurable setup. This flexible system is based on a hierarchical optimization method that generates plans meeting multiple preferred conditions under mandatory requirements within a realistic timeframe. The approach employs two many-objective genetic algorithms for sequence and task planning with motion evaluations, followed by constraint programming for scheduling. Because sequence planning has a much larger search space, we introduce a chromosome initialization method tailored to constrained structures to mitigate the risk of local optima. Simulation results demonstrate that the proposed method effectively solves complex problems in reconfigurable robotic disassembly. Show Chinese abstract

Abstract: 本研究提出了一种系统集成方法，用于规划可重构机器人的计划、序列、任务和运动，以在非破坏性方式下自动拆解受限结构。 此类系统必须根据目标结构调整其配置和协调，但庞大的复杂搜索空间使其容易陷入局部最优。 为了解决这个问题，我们将配备不同类型工具的多台机器人手臂与旋转工作台集成到一个可重构的设置中。 这种灵活的系统基于一种分层优化方法，在现实时间范围内生成满足多个优先条件的计划。 该方法采用两种多目标遗传算法进行序列和任务规划，并结合运动评估，随后使用约束编程进行调度。 由于序列规划具有更大的搜索空间，我们引入了一种针对受限结构的染色体初始化方法，以减轻陷入局部最优的风险。 仿真结果表明，所提出的方法能够有效解决可重构机器人拆解中的复杂问题。