Sequence Planner - Automated Planning and Control for ROS2-based Collaborative and Intelligent Automation Systems

03/14/2019

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by   Martin Dahl, et al.

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Systems based on the Robot Operating System (ROS) are easy to extend with new on-line algorithms and devices. However, there is relatively little support for coordinating a large number of heterogeneous sub-systems. In this paper we propose an architecture to model and control collaborative and intelligent automation systems in a hierarchical fashion.