WIAS Preprint No. 1825, (2013)

Task assignment, sequencing and path-planning in robotic welding cells


  • Landry, Chantal
  • Welz, Wolfgang
  • Henrion, René
    ORCID: 0000-0001-5572-7213
  • Hömberg, Dietmar
    ORCID: 0000-0001-9460-5729
  • Skutella, Martin

2010 Mathematics Subject Classification

  • 49N90 65D18 90C27 90C35 90C90


  • discrete optimization, vehicle routing problem, optimal control problem, collision detection, motion planning, cooperative robots




A workcell composed of a workpiece and several welding robots is considered. We are interested in minimizing the makespan in the workcell. Hence, one needs i) to assign tasks between the robots, ii) to do the sequencing of the tasks for each robot and iii) to compute the fastest collision-free paths between the tasks. Up to now, task assignment and path-planning were always handled separately, the former being a typical Vehicle Routing Problem whereas the later is modelled using an optimal control problem. In this paper, we present a complete algorithm which combines discrete optimization techniques with collision detection and optimal control problems efficiently.

Appeared in

  • Methods and Models in Automation and Robotics (MMAR), 2013 -- 18th International Conference on, Miedzyzdroje, Poland, August 26 - 29, 2013, IEEE, 2013, pp. 252--257.

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