ROMar 14, 2019
Sequence Planner - Automated Planning and Control for ROS2-based Collaborative and Intelligent Automation SystemsMartin Dahl, Endre Erös, Atieh Hanna et al.
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.