Meta-Modeling of Assembly Contingencies and Planning for Repair
This work addresses the problem of improving robotic adaptability and robustness in semi-structured environments for teams participating in challenges like the World Robotics Challenge, but it appears incremental as it builds on existing strategies without introducing major breakthroughs.
The paper tackled the problem of adapting robotic systems to new tasks and ensuring robust operation in semi-structured environments, specifically addressing assembly contingencies and planning for repair, by presenting a layered strategy to transform missions into tasks and actions and proposing a model for characterizing failures, with results showing that simple failures were the most common in their World Robotics Challenge system and they demonstrated how to repair them.
The World Robotics Challenge (2018 & 2020) was designed to challenge teams to design systems that are easy to adapt to new tasks and to ensure robust operation in a semi-structured environment. We present a layered strategy to transform missions into tasks and actions and provide a set of strategies to address simple and complex failures. We propose a model for characterizing failures using this model and discuss repairs. Simple failures are by far the most common in our WRC system and we also present how we repaired them.