Sequence Planner - Automated Planning and Control for ROS2-based Collaborative and Intelligent Automation Systems (1903.05850v1)

Abstract: 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.