arXiv subjects

Jonghan Lim

Publications and source records attributed to Jonghan Lim.

9 recordsLinked to original sources

arXiv2026

NeuroSymbolic Robustness Analysis for Discrete Systems with Respect to Transition Deviations

Supervisory control of discrete-event systems provides formal guarantees of correctness with respect to a plant model and specification. However, these guarantees heavily rely on the plant model, which could deviate from nominal behavior due to modeling errors or faults. Recent notions of discrete robustness model deviations as a set of additional transitions that are added to the plant. The discrete robustness is defined as all sets of extra transitions for which the supervised system still guarantees a desired specification. However, this notion suffers from scalability due to the large solution space and conservatism since most deviations are infeasible in practice. This paper proposes to address these two issues using a neurosymbolic computing framework for discrete robustness analysis of safety properties. First, a neural reasoning layer based on Large Language Models infers a set of feasible deviation transitions from system models, specifications, and domain knowledge. Next, a symbolic layer computes the discrete robustness guarantees over the inferred deviation set. We evaluate our framework on three case studies, demonstrating that our method identifies a smaller set of feasible deviations while preserving robustness guarantees comparable to those of full transition-based analysis.

eess.SY↗

arXiv2026

Logic-Based Verification of Task Allocation for LLM-Enabled Multi-Agent Manufacturing Systems

Manufacturing industries are facing increasing product variability due to the growing demand for personalized products. Under these conditions, ensuring safety becomes challenging as frequent reconfigurations can lead to unintended hazardous behaviors. Multi-agent control architectures have been proposed to improve flexibility through decentralized decision-making and coordination. However, these architectures are based on predefined task models, which limit their ability to adapt task planning to new product requirements while preserving safety. Recently, large language models have been introduced into manufacturing systems to enhance adaptability, but reliability remains a key challenge. To address this issue, we propose a control architecture that leverages the flexibility of large language models while preserving safety on the manufacturing shop floor. Specifically, the proposed framework verifies large language model-enabled task allocations by using temporal logic and discrete event systems. The effectiveness of the proposed framework is demonstrated through a case study that involves a multi-robot assembly scenario, showing that unsafe tasks can be allocated safely before task execution.

cs.MA↗

arXiv2026

CoViLLM: An Adaptive Human-Robot Collaborative Assembly Framework Using Large Language Models

With increasing demand for mass customization, traditional manufacturing robots that rely on rule-based operations lack the flexibility to accommodate customized or new product variants. Human-Robot Collaboration has demonstrated potential to improve system adaptability by leveraging human versatility and decision-making capabilities. However, existing Human-Robot Collaborative frameworks typically depend on predefined perception-manipulation pipelines, limiting their ability to autonomously generate task plans for new product assembly. In this work, we propose CoViLLM, an adaptive human-robot collaborative assembly framework that supports the assembly of customized and previously unseen products. CoViLLM combines depth-camera-based localization for object position estimation, human operator classification for identifying new components, and a Large Language Model for assembly task planning based on natural language instructions. The framework is validated on the NIST Assembly Task Board for known, customized, and new product cases. Experimental results show that the proposed framework enables flexible collaborative assembly by extending Human-Robot Collaboration beyond predefined product and task settings.

cs.RO↗

arXiv2025

Dynamic Task Adaptation for Multi-Robot Manufacturing Systems with Large Language Models

Recent manufacturing systems are increasingly adopting multi-robot collaboration to handle complex and dynamic environments. While multi-agent architectures support decentralized coordination among robot agents, they often face challenges in enabling real-time adaptability for unexpected disruptions without predefined rules. Recent advances in large language models offer new opportunities for context-aware decision-making to enable adaptive responses to unexpected changes. This paper presents an initial exploratory implementation of a large language model-enabled control framework for dynamic task reassignment in multi-robot manufacturing systems. A central controller agent leverages the large language model's ability to interpret structured robot configuration data and generate valid reassignments in response to robot failures. Experiments in a real-world setup demonstrate high task success rates in recovering from failures, highlighting the potential of this approach to improve adaptability in multi-robot manufacturing systems.

cs.RO↗

arXiv2025

A Large Language Model-Enabled Control Architecture for Dynamic Resource Capability Exploration in Multi-Agent Manufacturing Systems

Manufacturing environments are becoming more complex and unpredictable due to factors such as demand variations and shorter product lifespans. This complexity requires real-time decision-making and adaptation to disruptions. Traditional control approaches highlight the need for advanced control strategies capable of overcoming unforeseen challenges, as they demonstrate limitations in responsiveness within dynamic industrial settings. Multi-agent systems address these challenges through decentralization of decision-making, enabling systems to respond dynamically to operational changes. However, current multi-agent systems encounter challenges related to real-time adaptation, context-aware decision-making, and the dynamic exploration of resource capabilities. Large language models provide the possibility to overcome these limitations through context-aware decision-making capabilities. This paper introduces a large language model-enabled control architecture for multi-agent manufacturing systems to dynamically explore resource capabilities in response to real-time disruptions. A simulation-based case study demonstrates that the proposed architecture improves system resilience and flexibility. The case study findings show improved throughput and efficient resource utilization compared to existing approaches.

cs.MA↗

arXiv2024

Large Language Model-Enabled Multi-Agent Manufacturing Systems

Traditional manufacturing faces challenges adapting to dynamic environments and quickly responding to manufacturing changes. The use of multi-agent systems has improved adaptability and coordination but requires further advancements in rapid human instruction comprehension, operational adaptability, and coordination through natural language integration. Large language models like GPT-3.5 and GPT-4 enhance multi-agent manufacturing systems by enabling agents to communicate in natural language and interpret human instructions for decision-making. This research introduces a novel framework where large language models enhance the capabilities of agents in manufacturing, making them more adaptable, and capable of processing context-specific instructions. A case study demonstrates the practical application of this framework, showing how agents can effectively communicate, understand tasks, and execute manufacturing processes, including precise G-code allocation among agents. The findings highlight the importance of continuous large language model integration into multi-agent manufacturing systems and the development of sophisticated agent communication protocols for a more flexible manufacturing system.

cs.MA↗

arXiv2024

Enhancing Human-Robot Collaborative Assembly in Manufacturing Systems Using Large Language Models

The development of human-robot collaboration has the ability to improve manufacturing system performance by leveraging the unique strengths of both humans and robots. On the shop floor, human operators contribute with their adaptability and flexibility in dynamic situations, while robots provide precision and the ability to perform repetitive tasks. However, the communication gap between human operators and robots limits the collaboration and coordination of human-robot teams in manufacturing systems. Our research presents a human-robot collaborative assembly framework that utilizes a large language model for enhancing communication in manufacturing environments. The framework facilitates human-robot communication by integrating voice commands through natural language for task management. A case study for an assembly task demonstrates the framework's ability to process natural language inputs and address real-time assembly challenges, emphasizing adaptability to language variation and efficiency in error resolution. The results suggest that large language models have the potential to improve human-robot interaction for collaborative manufacturing assembly applications.

cs.RO↗

arXiv2023

Ontology-Based Feedback to Improve Runtime Control for Multi-Agent Manufacturing Systems

Improving the overall equipment effectiveness (OEE) of machines on the shop floor is crucial to ensure the productivity and efficiency of manufacturing systems. To achieve the goal of increased OEE, there is a need to develop flexible runtime control strategies for the system. Decentralized strategies, such as multi-agent systems, have proven effective in improving system flexibility. However, runtime multi-agent control of complex manufacturing systems can be challenging as the agents require extensive communication and computational efforts to coordinate agent activities. One way to improve communication speed and cooperation capabilities between system agents is by providing a common language between these agents to represent knowledge about system behavior. The integration of ontology into multi-agent systems in manufacturing provides agents with the capability to continuously update and refine their knowledge in a global context. This paper contributes to the design of an ontology for multi-agent systems in manufacturing, introducing an extendable knowledge base and a methodology for continuously updating the production data by agents during runtime. To demonstrate the effectiveness of the proposed framework, a case study is conducted in a simulated environment, which shows improvements in OEE during runtime.

cs.MA↗

arXiv2013

Link Performance Abstraction for Interference-Aware Communications (IAC)

Advanced co-channel interference aware signal detection has drawn research attention during the recent development of Long Term Evolution-Advanced (LTE-A) systems and the interference-aware communications (IAC) is currently being studied by 3GPP. This paper investigates link performance abstraction for the IAC systems employing maximum-likelihood detector (MLD). The link performance of MLD can be estimated by combining two performance bounds, namely, linear receiver and genie-aided maximum-likelihood (ML) receiver. It is shown that the conventional static approach based on static parameterization, while working well under moderate and weak interference conditions, fails to generate a well-behaved solution in the strong interference case. Inspired by this observation, we propose a new adaptive approach where the combining parameter is adaptively adjusted according to instantaneous interference-to-signal ratio (ISR). The basic idea is to exploit the probabilistic behavior of the optimal combining ratio over the ISR. The link-level simulation results are provided to verify the prediction accuracy of the proposed link abstraction method. Moreover, we use the proposed link abstraction model as a link-to-system interface mapping in system-level simulations to demonstrate the performance of the IAC receiver in interference-limited LTE systems

cs.IT↗