Meta-Modeling of Assembly Contingencies and Planning for Repair

03/12/2021

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by   Priyam Parashar, et al.

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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.