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.
@article{arxiv.1903.05850,
title = {Sequence Planner - Automated Planning and Control for ROS2-based Collaborative and Intelligent Automation Systems},
author = {Martin Dahl and Endre Erös and Atieh Hanna and Kristofer Bengtsson and Petter Falkman},
journal= {arXiv preprint arXiv:1903.05850},
year = {2019}
}
Comments
Submitted to IROS 2019. \c{opyright} 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses