STAMINA: Sustainable and Reliable Robotics for Part Handling in Manufacturing Automation

EU | FP7 | Grant No. 610917 | 2013-2017

Overview

Part handling during the assembly stages in the automotive industry is a task with low automation levels due to the variability of the production and to the diversity of suppliers and parts. The full automation of such a task will not only have a huge impact in the automotive industry but will also act as a cornerstone in the development of advanced mobile robotic manipulators capable of dealing with unstructured environments and open up new possibilities in general for manufacturing.

The EU FP7-funded STAMINA project takes a holistic approach by partnering with experts in necessary key fields and building on previous R&D to develop autonomous and mobile industrial robots with different sensory, planning, and physical capabilities for jointly solving three logistic and handling tasks: depalletizing, bin picking and kitting. The robot and coordination systems are developed in a lean manner using an iterative series of development and validation testes that not only assess the performance and usability of the system but also allow goal-driven research. STAMINA gives special attention to system integration, promoting and assessing the development of a sustainable and scalable robotic system to ensure a clear path for the future exploitation of the developed technologies. In addition to the technological outcomes, STAMINA explores how a sharing of work and workspace between humans and robots could look in the future.

NOTE: The official STAMINA project website is no longer available. This webpage presents an overview of the research contributions of the Automated Planning Lab at Heriot-Watt University (initially, the University of Edinburgh) on STAMINA. A video introduction to STAMINA and a system demonstration video are also available on YouTube.

People

The Heriot-Watt University research team (formerly at the University of Edinburgh) included:

Ron Petrick, Principal Investigator, Heriot-Watt University
Matthew Crosby, Researcher, Heriot-Watt University

The STAMINA Project Coordinator was Volker Krueger from Aalborg Universitet, Denmark (now at Lunds Universitet, Sweden). Other project partners included:

PSA Peugeot Citroën Automobiles SA, France (now part of Stellantis)
BA Systèmes SAS, France (now Alstef Mobile Robotics)
Albert-Ludwigs-Universität Freiburg, Germany
Rheinische Friedrich-Wilhelms-Universität Bonn, Germany
INESC Tecnologia e Ciência, Portugal

Publications

The Heriot-Watt University / University of Edinburgh team contributed to a number of STAMINA research papers and reports. The team led the project's work package on mission tasks and vertical enterprise integration, developing the core task planning and mission planning technology, and contributing to overall software system integration.

2019

V. Krueger, F. Rovida, B. Grossmann, R. Petrick, M. Crosby, A. Charzoule, G. Garcia, S. Behnke, C. Toscano, and G. Veiga. (2019). Testing the Vertical and Cyber-Physical Integration of Cognitive Robots in Manufacturing. Robotics and Computer-Integrated Manufacturing, 57:213-229, doi:10.1016/j.rcim.2018.11.011.

2017

F. Rovida, M. Crosby, D. Holz, A. Polydoros, B. Großmann, R. Petrick, and V. Krüger. (2017). SkiROS — A Skill-Based Robot Control Platform on Top of ROS. In A. Koubaa (ed.), Robot Operating System (ROS): The Complete Reference (Volume 2), Studies in Computational Intelligence, 707:121-160, Springer, doi:10.1007/978-3-319-54927-9_4.
M. Crosby, F. Rovida, V. Krüger, and R. Petrick. (2017). Integrating Mission and Task Planning in an Industrial Robotics Framework. International Conference on Automated Planning and Scheduling (ICAPS), 471-479, doi:10.1609/icaps.v27i1.13857. pdf
M.E. Foster and R. Petrick. (2017). Separating Representation, Reasoning, and Implementation for Interaction Management: Lessons from Automated Planning. In K. Jokinen and G. Wilcock (eds.), Dialogues with Social Robots: Enablements, Analyses, and Evaluation, Lecture Notes in Electrical Engineering, 427:93-107, Springer, doi:10.1007/978-981-10-2585-3_7.

2016

M. Crosby, R. Petrick, C. Toscano, R. Dias, F. Rovida, and V. Krüger. (2016). Integrating Mission, Logistics, and Task Planning for Skills-Based Robot Control in Industrial Kitting Applications. UK Planning and Scheduling Special Interest Group (UK PlanSIG 2016). pdf
R. Petrick and M.E. Foster. (2016). Using General-Purpose Planning for Action Selection in Human-Robot Interaction. AAAI 2016 Fall Symposium on Artificial Intelligence for Human-Robot Interaction (AI-HRI). pdf | poster
F. Rovida, V. Krueger, L. Nalpantidis, A. Charzoule, A. Lasnier, R. Petrick, M. Crosby, C. Toscano, and G. Veiga. (2016). A Cyber-Physical Systems Approach for Controlling Autonomous Mobile Manipulators. International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR), Advances in Cooperative Robotics, 169-177, doi:10.1142/9789813149137_0022.
C. Geib, J. Weerasinghe, S. Matskevich, P. Kantharaju, B. Craenen, and R. Petrick. (2016). Building Helpful Virtual Agents Using Plan Recognition and Planning. AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment (AIIDE), 162-168, doi:10.1609/aiide.v12i1.12883. pdf
V. Krueger, A. Chazoule, M. Crosby, A. Lasnier, M.R. Pedersen, F. Rovida, L. Nalpantidis, R. Petrick, C. Toscano, and G. Veiga. (2016). A Vertical and Cyber-Physical Integration of Cognitive Robots in Manufacturing. Proceedings of the IEEE, 104(5):1114-1127, doi:10.1109/JPROC.2016.2521731.
C. Geib, B. Craenen, and R. Petrick. (2016). Combining Plan Recognition, Goal Reasoning, and Planning for Cooperative Task Behaviour. IJCAI 2016 Workshop on Goal Reasoning. pdf
M. Crosby, F. Rovida, M.R. Pedersen, R. Petrick, and V. Krueger. (2016). Planning for Robots with Skills. ICAPS 2016 Workshop on Planning and Robotics (PlanRob), 49-57. pdf
C. Geib, B. Craenen, and R. Petrick. (2016). Generating Collaborative Behaviour through Plan Recognition and Planning. ICAPS 2016 Workshop on Distributed and Multi-Agent Planning (DMAP), 98-105. pdf
F. Rovida, V. Krueger, C. Toscano, G. Veiga, M. Crosby, and R. Petrick. (2016). Planning for Sustainable and Reliable Robotic Part Handling in Manufacturing Automation. ICAPS 2016 System Demonstration. pdf | storyboard | poster
R. Petrick and M.E. Foster. (2016). Action Selection for Interaction Management: Opportunities and Lessons for Automated Planning. UK Planning and Scheduling Special Interest Group (UK PlanSIG 2015). pdf
C. Geib, B. Craenen, and R. Petrick. (2016). I Can Help! Cooperative Task Behaviour through Plan Recognition and Planning. UK Planning and Scheduling Special Interest Group (UK PlanSIG 2015). pdf
M.E. Foster and R. Petrick. (2016). Separating Representation, Reasoning, and Implementation for Interaction Management. International Workshop on Spoken Dialogue Systems (IWSDS). pdf | poster

2015

M. Crosby and R. Petrick. (2015). Mission Planning for a Robot Factory Fleet. IROS 2015 Workshop on Task Planning for Intelligent Robots in Service and Manufacturing. pdf
R. Petrick and A. Gaschler. (2015). Knowledge-Level Planning for Robot Task Planning and Human-Robot Interaction. Extended abstract and poster from the RSS 2015 Workshop on Combining AI Reasoning and Cognitive Science with Robotics. pdf | poster

2014

R. Petrick and A. Gaschler. (2014). Extending Knowledge-Level Planning with Sensing for Robot Task Planning. UK Planning and Scheduling Special Interest Group (UK PlanSIG). pdf
M. Crosby and R. Petrick. (2014). Centralised High-Level Planning for a Robot Fleet. UK Planning and Scheduling Special Interest Group (UK PlanSIG). pdf
M. Crosby and R. Petrick. (2014). Improving Planner Performance in Grid Worlds with Macro Actions. ECAI 2014 International Cognitive Robotics Workshop (CogRob). pdf
M. Crosby and R. Petrick. (2014). Temporal Multiagent Planning with Concurrent Action Constraints. ICAPS 2014 Workshop on Distributed and Multi-Agent Planning (DMAP), 16-24. pdf

Reports

A complete list of official STAMINA reports can be found on the EU's STAMINA results page. In particular, the Heriot-Watt University / University of Edinburgh team contributed to the following reports:

A. Lasnier, D. Holz, J. Roewekaemper, L. Nalpantidis, C. Toscano, R. Petrick, and M. Crosby. (2015). D1.3.6: STAMINA test and evaluation report M22. pdf
A. Chazoule, V. Krueger, G. Martin, A. Schiotka, L. Nalpantidis, C. Toscano, R. Petrick, and M. Crosby. (2016). D1.3.7: STAMINA test and evaluation report M32. pdf
A. Chazoule, V. Krueger, G. Martin, A. Schiotka, L. Nalpantidis, C. Toscano, R. Petrick, and M. Crosby. (2017). D1.3.8: STAMINA test and evaluation report M41. pdf
F. Rovida, M. Crosby, D. Holz, A. Polydoros, B. Grossmann, R. Petrick, and V. Krueger. (2016). D3.3: Report on integration of robot skills. pdf
M. Crosby and R. Petrick. (2016). D3.4: Report on skill-based task planning. pdf
A. Chazoule, C. Toscano, E. Fauré, G. Veiga, M. Crosby, and R. Petrick. (2014). D4.1.1: Specification of SOA for robot fleets. pdf
C. Toscano, G. Veiga, M. Crosby, and R. Petrick. (2015). D4.1.2: Report on the implementation of SOA for robot fleets. pdf
C. Toscano, G. Veiga, M. Crosby, and R. Petrick. (2015). D4.2.3: Conversion logic and high-level operations scheduling. pdf
M. Crosby and R. Petrick. (2015). D4.3.1: Architecture Description for the Mission Planning Subsystem. pdf
M. Crosby and R. Petrick. (2016). D4.4.1: Report on the Specification of a Mission Planning Domain for Robot Fleet Behaviour Control. pdf

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