ROMar 14, 2019
Sequence Planner - Automated Planning and Control for ROS2-based Collaborative and Intelligent Automation Systems
arXiv:1903.05850v14 citations
Originality Synthesis-oriented
AI Analysis
This addresses a coordination problem for developers of large-scale ROS2 automation systems, but appears incremental as it builds on existing ROS frameworks.
The paper tackles the challenge of coordinating heterogeneous subsystems in ROS-based systems by proposing a hierarchical architecture for modeling and controlling collaborative and intelligent automation systems.
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.