Development of an Industry 4.0 Demonstrator Using Sequence Planner and ROS2
Kapitel i bok, 2021

In many modern automation solutions, manual off-line programming is being replaced by online algorithms that dynamically perform tasks based on the state of the environment. Complexities of such systems are pushed even further with collaboration among robots and humans, where intelligent machines and learning algorithms are replacing more traditional automation solutions. This chapter describes the development of an industrial demonstrator using a control infrastructure called Sequence Planner (SP), and presents some lessons learned during development. SP is based on ROS2 and it is designed to aid in handling the increased complexity of these new systems using formal models and online planning algorithms to coordinate the actions of robots and other devices. During development, SP can auto generate ROS nodes and message types as well as support continuous validation and testing. SP is also designed with the aim to handle traditional challenges of automation software development such as safety, reliability and efficiency. In this chapter, it is argued that ROS2 together with SP could be an enabler of intelligent automation for the next industrial revolution.


Endre Erös

Chalmers, Elektroteknik, System- och reglerteknik

Martin Dahl

Chalmers, Elektroteknik, System- och reglerteknik

Atieh Hanna

Volvo Cars

Per-Lage Götvall

Volvo Cars

Petter Falkman

Chalmers, Elektroteknik, System- och reglerteknik

Kristofer Bengtsson

Chalmers, Elektroteknik, System- och reglerteknik

Studies in Computational Intelligence

1860-949X (ISSN) 1860-9503 (eISSN)


Virtuell beredning av operationer för fordonsunderhåll, UNIFICATION

VINNOVA (2017-02245), 2017-06-01 -- 2020-05-31.


Inbäddad systemteknik

Robotteknik och automation

Datavetenskap (datalogi)



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