Localized abductive planning for robot assembly

The application of localized abductive reasoning in assembly planning with multiple robots is explained. The assembly problem is described in the event calculus using Horn clause logic. The assembly problem domain is decomposed into regions of activity, and the actions, predicates, and constraints of the planning problem are distributed over these regions. The reasoning component of the planner is abduction; the planner makes abduction steps locally within the regions, and the search algorithm shifts control from one region to another to find an overall global plan. An example is shown of a flashlight assembly problem in a robot cell with two robots that share one feeder