Planning knowledge and game-theoretic models for cooperative assembly

A knowledge-based planning and control approach that involves game-theoretic models for cooperation among distributed machines is developed. The cooperation modes are classified into three types: mandatory, optional, and concurrent. The planning issue deals with two main problems: description of assembly tasks with associated cooperation knowledge and assignment of individual or collective tasks to robots or machines on the basis of the task requirements and machine capabilities. The most effective coalition of robots and machines that can perform the task successfully is determined on the basis of the current perception of the system