2019 – TDP – GRIPS – RoboCupIndustrial – RoboCupLogistics

The present paper presents team GRIPS (Graz Robust and Intelligent Production System) and its approaches to the challenges in the RoboCup Logistics League 2019. Festo’s Robotino, a customized additional construction and some further hardware, such as laser scanners, cameras, PC, and PLC, are used as a hardware platform. The software architecture is built in a multi-layer format. A scheduler/- planner functions as a central decision-making instance for all robots at the top player. Beneath this layer, a procedural reasoning engine (Open PRS) allows for individual decisions. At the lowest level, the robot operating system (ROS) executes the tasks assigned to the robot by the top layer. To improve the robustness of this system, observers monitor the lowest level. For this purpose, a diagnosis system is implemented which also reports abnormal behavior and likely underlying reasons to the upper layers. Malfunctioning components are thus detected and can be repaired.