LASER: Level-Based Asynchronous Scheduling and Execution Regime for Spatiotemporally Constrained Multi-Robot Timber Manufacturing
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arXiv
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| Auteurs principaux: | , , , , , , |
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| Format: | Preprint |
| Publié: |
2026
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| _version_ | 1866914412310298624 |
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| author | Huang, Zhenxiang Skoury, Lior Stark, Tim Wagner, Aaron Wagner, Hans Jakob Wortmann, Thomas Menges, Achim |
| author_facet | Huang, Zhenxiang Skoury, Lior Stark, Tim Wagner, Aaron Wagner, Hans Jakob Wortmann, Thomas Menges, Achim |
| contents | Automating large-scale manufacturing in domains like timber construction requires multi-robot systems to manage tightly coupled spatiotemporal constraints, such as collision avoidance and process-driven deadlines. This paper introduces LASER (Level-based Asynchronous Scheduling and Execution Regime), a complete framework for scheduling and executing complex assembly tasks, demonstrated on a screw-press gluing application for timber slab manufacturing. Our central contribution is to integrate a barrier-based mechanism into a constraint programming (CP) scheduling formulation that partitions tasks into spatiotemporally disjoint sets, which we define as levels. This structure enables robots to execute tasks in parallel and asynchronously within a level, synchronizing only at level barriers, which guarantees collision-free operation by construction and provides robustness to timing uncertainties. To solve this formulation for large problems, we propose two specialized algorithms: an iterative temporal-relaxation approach for heterogeneous task sequences and a bi-level decomposition for homogeneous tasks that balances workload. We validate the LASER framework by fabricating a full-scale 2.4m x 6m timber slab with a two-robot system mounted on parallel linear tracks, successfully coordinating 108 subroutines and 352 screws under tight adhesive time windows. Computational studies show our method scales steadily with size compared to a monolithic approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_20577 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | LASER: Level-Based Asynchronous Scheduling and Execution Regime for Spatiotemporally Constrained Multi-Robot Timber Manufacturing Huang, Zhenxiang Skoury, Lior Stark, Tim Wagner, Aaron Wagner, Hans Jakob Wortmann, Thomas Menges, Achim Robotics Multiagent Systems Automating large-scale manufacturing in domains like timber construction requires multi-robot systems to manage tightly coupled spatiotemporal constraints, such as collision avoidance and process-driven deadlines. This paper introduces LASER (Level-based Asynchronous Scheduling and Execution Regime), a complete framework for scheduling and executing complex assembly tasks, demonstrated on a screw-press gluing application for timber slab manufacturing. Our central contribution is to integrate a barrier-based mechanism into a constraint programming (CP) scheduling formulation that partitions tasks into spatiotemporally disjoint sets, which we define as levels. This structure enables robots to execute tasks in parallel and asynchronously within a level, synchronizing only at level barriers, which guarantees collision-free operation by construction and provides robustness to timing uncertainties. To solve this formulation for large problems, we propose two specialized algorithms: an iterative temporal-relaxation approach for heterogeneous task sequences and a bi-level decomposition for homogeneous tasks that balances workload. We validate the LASER framework by fabricating a full-scale 2.4m x 6m timber slab with a two-robot system mounted on parallel linear tracks, successfully coordinating 108 subroutines and 352 screws under tight adhesive time windows. Computational studies show our method scales steadily with size compared to a monolithic approach. |
| title | LASER: Level-Based Asynchronous Scheduling and Execution Regime for Spatiotemporally Constrained Multi-Robot Timber Manufacturing |
| topic | Robotics Multiagent Systems |
| url | https://arxiv.org/abs/2603.20577 |