A Cooperative Model-based Control Agent for a Reconfigurable Manufacturing Plant

This paper presents an overview of the use of planning and execution techniques in nodes of a Reconfigurable Transportation Systems (RTSs). A manufacturing plant is here conceived as multiple independent modules to implement alternative inbound logistic systems' configurations. To support this capability of the robotic hardware, an integrated solution is proposed using timeline-based planning and control responsible for managing both the node regular activities and reconfiguration activities. A cooperation layer dedicated to multi-robot coordination completes the overall architecture.