An Autonomous Task Assignment Paradigm for Autonomous Robotic In-Space Assembly

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dc.contributor.authorHildebrand, Roberten
dc.contributor.authorKomendera, Eriken
dc.contributor.authorMoser, Joshuaen
dc.contributor.authorHoffman, Juliaen
dc.date.accessioned2022-03-25T15:09:28Zen
dc.date.available2022-03-25T15:09:28Zen
dc.date.issued2022-02-25en
dc.date.updated2022-03-25T14:41:49Zen
dc.description.abstractThe development of autonomous robotic systems is a key component in the expansion of space exploration and the development of infrastructures for in-space applications. An important capability for these robotic systems is the ability to maintain and repair structures in the absence of human input by autonomously generating valid task sequences and task to robot allocations. To this end, a novel stochastic problem formulation paired with a mixed integer programming assembly schedule generator has been developed to articulate the elements, constraints, and state of an assembly project and solve for an optimal assembly schedule. The developed formulations were tested with a set of hardware experiments that included generating an optimal schedule for an assembly and rescheduling during an assembly to plan a repair. This formulation and validation work provides a path forward for future research in the development of an autonomous system capable of building and maintaining in-space infrastructures.en
dc.description.versionPublished versionen
dc.format.extentPages 709905en
dc.format.mimetypeapplication/pdfen
dc.identifier.doihttps://doi.org/10.3389/frobt.2022.709905en
dc.identifier.eissn2296-9144en
dc.identifier.issn2296-9144en
dc.identifier.orcidHildebrand, Robert [0000-0002-2730-0084]en
dc.identifier.orcidKomendera, Erik [0000-0001-6760-6662]en
dc.identifier.otherPMC8914470en
dc.identifier.other709905 (PII)en
dc.identifier.pmid35280960en
dc.identifier.urihttp://hdl.handle.net/10919/109440en
dc.identifier.volume9en
dc.language.isoenen
dc.publisherFrontiersen
dc.relation.urihttps://www.ncbi.nlm.nih.gov/pubmed/35280960en
dc.rightsCreative Commons Attribution 4.0 Internationalen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/en
dc.subjectautonomous robotic assemblyen
dc.subjectin-space assemblyen
dc.subjectmarkov decision processen
dc.subjectmixed integer programmingen
dc.subjectstochastic assembly environmenten
dc.subjecttask allocationen
dc.subjecttask sequencingen
dc.subject0801 Artificial Intelligence and Image Processingen
dc.subject0906 Electrical and Electronic Engineeringen
dc.titleAn Autonomous Task Assignment Paradigm for Autonomous Robotic In-Space Assemblyen
dc.title.serialFrontiers in Robotics and AIen
dc.typeArticle - Refereeden
dc.type.dcmitypeTexten
dc.type.otherArticleen
dcterms.dateAccepted2022-02-16en
pubs.organisational-group/Virginia Techen
pubs.organisational-group/Virginia Tech/Engineeringen
pubs.organisational-group/Virginia Tech/Engineering/Industrial and Systems Engineeringen
pubs.organisational-group/Virginia Tech/Engineering/Mechanical Engineeringen
pubs.organisational-group/Virginia Tech/All T&R Facultyen
pubs.organisational-group/Virginia Tech/Engineering/COE T&R Facultyen
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