A societal architecture is one in which the overall operation of a system is achieved by many (a society of) agents. The application of this type of architecture to the control of a multi-sensor, multi-robot assembly workcell provides a structure in which the subsystems required to control collaborating robots equipped with sensing and error detection/correction capabilities can be integrated in a seamless manner. The architecture has been developed concurrently with a novel hardware system which will allow real-time operation to be achieved.
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