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Article

An Online Task-Planning Framework Using Mixed Integer Programming for Multiple Cooking Tasks Using a Dual-Arm Robot

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Mechanical Engineering, Sungkyunkwan University, Seobu-ro, Suwon-si 2066, Korea
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Mechanical and Aerospace Engineering, University of California, Los Angeles, CA 90095, USA
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Facultad de Ingeniería en Electricidad y Computación, Escuela Superior Politécnica del Litoral, ESPOL, Campus Gustavo Galindo, Guayaquil 09-01-5863, Ecuador
*
Author to whom correspondence should be addressed.
Academic Editors: Giovanni Boschetti and João Miguel da Costa Sousa
Appl. Sci. 2022, 12(8), 4018; https://doi.org/10.3390/app12084018
Received: 15 March 2022 / Revised: 7 April 2022 / Accepted: 11 April 2022 / Published: 15 April 2022
(This article belongs to the Topic Industrial Robotics)
This work proposes an online task-scheduling method using mixed-integer programming for a multi-tasking problem regarding a dual-arm cooking robot in a controlled environment. Given each task’s processing time, their location in the working space, dependency, the required number of arms, and the kinematic constraints of the dual-arm robot, the proposed optimization algorithm can produce a feasible solution to scheduling the cooking order for each task and for each associated arms so that the total cooking time and the total moving distance for each arm are minimized. We use a subproblem optimization strategy in which the number of tasks to be planned is divided into several groups instead of planning all tasks at the same time. By doing so, the planning time can be significantly decreased, making the algorithm practical for online implementation. The feasibility of our optimization method and the effectiveness of the subproblem optimization strategy were verified through simulated experiments consisting of 30 to 120 tasks. The results showed that our strategy is advantageous in terms of computation time and makespan for large problems. View Full-Text
Keywords: mixed integer programming; cooking robot; dual-arm robot; task planning; task scheduling mixed integer programming; cooking robot; dual-arm robot; task planning; task scheduling
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MDPI and ACS Style

Yi, J.-s.; Luong, T.A.; Chae, H.; Ahn, M.S.; Noh, D.; Tran, H.N.; Doh, M.; Auh, E.; Pico, N.; Yumbla, F.; Hong, D.; Moon, H. An Online Task-Planning Framework Using Mixed Integer Programming for Multiple Cooking Tasks Using a Dual-Arm Robot. Appl. Sci. 2022, 12, 4018. https://doi.org/10.3390/app12084018

AMA Style

Yi J-s, Luong TA, Chae H, Ahn MS, Noh D, Tran HN, Doh M, Auh E, Pico N, Yumbla F, Hong D, Moon H. An Online Task-Planning Framework Using Mixed Integer Programming for Multiple Cooking Tasks Using a Dual-Arm Robot. Applied Sciences. 2022; 12(8):4018. https://doi.org/10.3390/app12084018

Chicago/Turabian Style

Yi, June-sup, Tuan A. Luong, Hosik Chae, Min S. Ahn, Donghun Noh, Huy N. Tran, Myeongyun Doh, Eugene Auh, Nabih Pico, Francisco Yumbla, Dennis Hong, and Hyungpil Moon. 2022. "An Online Task-Planning Framework Using Mixed Integer Programming for Multiple Cooking Tasks Using a Dual-Arm Robot" Applied Sciences 12, no. 8: 4018. https://doi.org/10.3390/app12084018

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