A Self-organisation Model for Mobile Robots in Large Structure Assembly Using Multi-agent Systems

  • Spartak LjasenkoEmail author
  • Niels Lohse
  • Laura Justham
  • Ivo Pereira
  • Michael Jackson
Conference paper
Part of the Studies in Computational Intelligence book series (SCI, volume 694)


Mobile, self-organising robots are seen to be a possible solution to overcome the current limitations of fixed, dedicated automation systems particularly in the area of large structure assembly. Two of the key challenges for traditional dedicated automation systems in large structure assembly are considered to be the transportation of products and the adaptation of manufacturing processes to changes in requirements. In order to make dynamic, self-organising systems a reality, several challenges in the process dynamics and logistical control need to be solved. In this paper, we propose a Multi-Agent System (MAS) approach to self-organise mobile robots in large structure assembly. The model is based on fixed-priority pre-emptive scheduling and uses a blackboard agent as a central information source and to facilitate more common goal directed distributed negotiation and decision making between agents representing the different needs of products and available mobile resources (robots).


Multi-agent systems Fixed-priority pre-emptive scheduling Large structure assembly 



The authors acknowledge support from the EPSRC Centre for Innovative Manufacturing in Intelligent Automation, in undertaking this research work under grant reference number EP/IO33467/1.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Spartak Ljasenko
    • 1
    Email author
  • Niels Lohse
    • 1
  • Laura Justham
    • 1
  • Ivo Pereira
    • 2
  • Michael Jackson
    • 2
  1. 1.Wolfson School of EngineeringLoughborough UniversityLoughboroughUK
  2. 2.EPSRC Centre for Innovative Manufacturing in Intelligent AutomationLoughboroughUK

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