SAFIR: flexible multi-robots assembly system

SAFIR, a flexible multirobots assembly system, is presented. It has been designed to provide workable solutions leading to a flexible control system which is adapted to the dynamic environment of the cell. This goal can be reached by using an assembly graph which contains several possible assembly sequences, a planner that is able to change the plan in real time according to the state of the cell, and an adaptive scheduler.<<ETX>>

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