RoboPlanner: Towards an Autonomous Robotic Action Planning Framework for Industry 4.0

Ajay Kattepur (1) , Balamuralidhar P

1 TCSL - Tata Consultancy Services Limited

Autonomous robots are being increasingly integrated into manufacturing, supply chain and retail industries due to the twin advantages of improved throughput and adaptivity. In order to handle complex Industry 4.0 tasks, the autonomous robots require robust action plans, that can self-adapt to runtime changes. A further requirement is efficient implementation of knowledge bases, that may be queried during planning and execution. In this paper, we propose RoboPlanner, a framework to generate action plans in autonomous robots. In RoboPlanner, we model the knowledge of world models, robotic capabilities and task templates using knowledge property graphs and graph databases. Design time queries and robotic perception are used to enable intelligent action planning. At runtime, integrity constraints on world model observations are used to update knowledge bases. We demonstrate these solutions on autonomous picker robots deployed in Industry 4.0 warehouses.

Domaines: Robotique [cs.RO]; Intelligence artificielle [cs.AI]

Ajay Kattepur, Balamuralidhar P. RoboPlanner: Towards an Autonomous Robotic Action Planning Framework for Industry 4.0. 2019. ⟨hal-02284497⟩