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Article

Modelling Automated Planning Problems for Teams of Mobile Manipulators in a Generic Industrial Scenario

Institute of Mechanism Theory, Machine Dynamics and Robotics, 52062 Aachen, Germany
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Academic Editors: Alessandro Umbrico and Marco Faroni
Appl. Sci. 2022, 12(5), 2319; https://doi.org/10.3390/app12052319
Received: 4 February 2022 / Revised: 18 February 2022 / Accepted: 18 February 2022 / Published: 23 February 2022
(This article belongs to the Special Issue Industrial Robotics: Design and Applications)
Flexible control strategies are required in industrial scenarios to coordinate the actions of mobile manipulators (e.g., robots and humans). Temporal planning approaches can be used as such control strategies because they can generate those actions for the agents that must be executed to reach the goals, from any given state of the world. To deploy such approaches, planning models must be formulated. Although available in the literature, these models are not generic enough such that they can be easily transferred to new use cases. In this work, a generic industrial scenario is derived from real scenarios. For this scenario, a generic planning problem is developed. To demonstrate their generality, the two constructs are configured for a new scenario, where custom grippers are assembled. Lastly, a validation methodology is developed for the generic planning problem. The results show that the generic industrial scenario and the generic planning problem can be easily instantiated for new use cases, without any new modelling. Further, the proposed validation methodology guarantees that these planning problems are complete enough to be used in industrial use cases. The generic scenario, the planning problems, and the validation methodology are proposed as standards for use when deploying temporal planning in industrial scenarios with mobile manipulators. View Full-Text
Keywords: automated planning; AI planning; PDDL; modelling; mobile manipulators automated planning; AI planning; PDDL; modelling; mobile manipulators
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MDPI and ACS Style

Bezrucav, S.-O.; Corves, B. Modelling Automated Planning Problems for Teams of Mobile Manipulators in a Generic Industrial Scenario. Appl. Sci. 2022, 12, 2319. https://doi.org/10.3390/app12052319

AMA Style

Bezrucav S-O, Corves B. Modelling Automated Planning Problems for Teams of Mobile Manipulators in a Generic Industrial Scenario. Applied Sciences. 2022; 12(5):2319. https://doi.org/10.3390/app12052319

Chicago/Turabian Style

Bezrucav, Stefan-Octavian, and Burkhard Corves. 2022. "Modelling Automated Planning Problems for Teams of Mobile Manipulators in a Generic Industrial Scenario" Applied Sciences 12, no. 5: 2319. https://doi.org/10.3390/app12052319

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