Table 2.

Summary of Multi-Robot Assembly Strategies Demonstrated in Literature

Setup	Type	Strategy	Application
Mulit-Arm	Welding	Dynamic fixturing	Spot Welding automotive (Papakostas et al. 2011)
	Peg-in-Hole	Force-guided part mating	Pipe fitting (Rojas and II 2012)
			Demonstration [Hoffmann 2014]
		Vision-guided part mating	Wheel and tire assembly (Shi and Menassa 2010)
		Tilt method	Simulated demonstration (Dauchez et al. 2005)
			Demonstration [Yuan 2006]
			Teach-by-example demonstration [Takamatsu et al. 2007)
		Stochastic search	Transmission assembly (Park et al. 2009)
		Position-based coordination	Bolt fastening (Su et al. 2009)
	Gear Meshing	Rotational search	Differential gear assembly (Yamada et al. 1995)
	Parts Alignment	Pick-and-place	Process scheduling (Hörmann et al. 1989)
	Snap-Fit	Push-hold strategy	Structural assembly of truss (Šurdilovic et al. 2001)
			Cell phone assembly (Marvel 2010)
Arm-Hand	Peg-in-Hole	Spiral search	Demonstration (Bae 2014a, 2014b)
Arm-AGV	Peg-in-Hole	Vision- and force-guided part mating	Structural assembly of truss (Stroupe et al. 2005)
			Wire harness plug insertion (Hamner et al. 2010)
		Vision-guided part mating	Furniture assembly (Knepper et al. 2013)
		Tilt strategy	Rotary shaft insertion (Bøgh et al. 2011; Carøe et al. 2012; Carøe 2012)
AGV-AGV	Logistical Support	Parts delivery	Cardboard box material handling (Sugar and Kumar 2008)
			Workload balancing for part acquisition, transport, and placement (Bolger et al. 2010)
			Scheduling for workload balancing (Fazlollahtabar et al. 2010)
Other	Parts Alignment	Vision-guided part mating	Structural assembly of truss using a mobile manipulator and a crane (Simmons et al. 2000)
		Dynamic fixturing	Multiple different robot configurations for circuit breaker welding (Sequeira and Basson 2009)
	Peg-in-Hole	Vision-guided assisted teleoperation	Semi-autonomous assembly of trusses using a mobile manipulator, a robotic crane, and a mobile observer (Sellner et al. 2006)