Sequence Planner: A Framework for Control of Intelligent Automation Systems
Artikel i vetenskaplig tidskrift, 2022

This paper presents a framework that tackles the challenges met in the development of automation systems featuring collaborative robotics and other machines that have some degree of autonomy. These machines rely on online algorithms for both sensing and acting in order to achieve a very high level of flexibility. To take advantage of these new machines and algorithms, control systems must also be increasingly flexible. In this paper, we present a framework for control of this new class of intelligent automation systems called Sequence Planner (SP), which helps with control of both traditional automation equipment and machines with autonomy. To aid the complex task of developing automation control solutions, SP relies on supporting algorithms for control logic synthesis and online planning. SP has been implemented with plug-in support for the Robot Operating System (ROS) and applied to an industrial demonstrator. We present our findings on how SP performed as a control system for this demonstrator, where we show that it is an adequate approach to implement automation for a highly flexible single station system. As a standardized way of automating such systems is missing, we hope that our contribution will provide a foundation for how to develop intelligent automation systems.

artificial intelligence

control systems and applications

flexible manufacturing systems

industrial mechatronics and robotics


Industry 4


Martin Dahl

Chalmers, Elektroteknik, System- och reglerteknik

Endre Erös

Chalmers, Elektroteknik, System- och reglerteknik

Kristofer Bengtsson

Chalmers, Elektroteknik, System- och reglerteknik

Martin Fabian

Chalmers, Elektroteknik, System- och reglerteknik

Petter Falkman

Chalmers, Elektroteknik, System- och reglerteknik

Applied Sciences (Switzerland)

20763417 (eISSN)

Vol. 12 11 5433

UNICORN - Sustainable, Peaceful and Efficient Robotic Refuse Handling

VINNOVA (2017-03055), 2017-10-25 -- 2020-08-31.

Volvo Group, 2021-03-24 -- 2021-05-31.

Industrial Quality-Assured Robot Software Components "ROSIN" - Focused Technical Project - Sequence Planner

Europeiska kommissionen (EU) (EC/H2020/732287), 2020-05-01 -- 2021-12-31.

Virtuell beredning av operationer för fordonsunderhåll, UNIFICATION

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


Inbäddad systemteknik

Robotteknik och automation




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