---
title: "The Pipelining Transformation on Plans for Manufacturing Cells with Robots"
authors:
  - "Erik Sandewall"
doi: ""
url: "https://ijcai.org/proceedings/1987/216"
pdf: "https://ijcai.org/proceedings/1987/0216.pdf"
venue: "Proceedings of the Tenth International Joint Conference on Artificial Intelligence"
year: 1987
pages: "1055-1061"
track: "Reasoning"
keywords:
---

# The Pipelining Transformation on Plans for Manufacturing Cells with Robots

Erik Sandewall

*Proceedings of the Tenth International Joint Conference on Artificial Intelligence*, pages 1055-1061.

## Abstract

The plan or program for a manufacturing cell may be seen either from the workpiece (describing the successive operations that it wants to undergo during its track through the cell) or from the perspective of the workcell (describing its quasi-parallel operation on several workpieces which are processed simultaneously in the cell). This paper addresses the question of how to verify that a proposed cell program implements a given workpiece program. The verification method is described informally using an example, and then formulated in precise and formal terms.