2023 – 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 2023. 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, various BehaviourTrees are used for individual decisions during an action. At the lowest level, the robot operating system (ROS) executes the tasks assigned to the robot by the top layer.