Dealing with the unpredictable: An Evolvable Robotic Assembly Cell

Abstract

The work presented in this paper intends to clarify how the Evolvable Assembly Systems (EAS) paradigm has been used to develop a robotic assembly cell based on a fully reconfigurable robot. The work includes some detail of the multiagent architecture based on coalitions of assembly modules and how this was successfully used to implement the control architecture for EAS. Finally, it will introduce the issue of using unpredictable behaviour as a driver for dealing with dynamic conditions, and how this may be addressed.