This pilot is about goods transport in a company, such as factory intra-logistics. It can be used to showcase robotics navigation, e.g. to show the performance of goods delivery and according non-functional requirements. It can be extended to object recognition and manipulation.

The pilot is intended for open call 2 contributors to showcase the ease of system integration via composition of software components to a complete robotics application.

The pilot is physically located at Ulm University of Applied Sciences; Germany and may be used on site or remotely. An excerpt is available in simulation for off-site use.

Pilot Facts Sheet for Open Call 2

Videos of the pilot in action:

• https://www.youtube.com/watch?v=qRSDxBOUVx0
• https://www.youtube.com/watch?v=ML_BtZsiPHo

The pilot is fully supported by the SmartMDSD Toolchain, an Integrated Software Development Environment (IDE) for system composition in an robotics software business ecosystem. This ensures full conformance to the RobMoSys methodology when using this pilot.

• You can use this pilot with the SmartMDSD Toolchain
• Software components for this pilot are available: see RobMoSys Model Directory
  • Robot platforms, mapping, planning, obstacle avoidance, etc. for immediate composition
  • Depending on your use-case, software component templates for manipulation and object recognition are available or you may want to use manipulation on task-level.
• Documentation and Tutorials available for use with the SmartMDSD Toolchain
• The pilot features the flexible navigation stack.
• Components are coordinated using Robotics behavior coordination in SmartSoft: SmartTCL
• Tutorial for running the Gazebo/Tiago/SmartSoft Scenario in simulation

The pilot is intended for the use with FESTO Robotino but can be extended to any robot thanks to the Flexible Navigation Stack. It covers navigation via the Flexible Navigation Stack and mobile manipulation using the Mobile Manipulation Stack.

Potential Use-Cases for ITP demonstrations:

• Integrate your own robot (as e.g. shown by the CARVE ITP)
• Interact with the pilot on task-, service- or component-level.
• Work with a single robot or a fleet of robots
• Software components and system composition: e.g. composition of previously developed software components and/or exchange of software components to address new needs.
• Ecosystem collaboration including the different roles that participants can take
• Task level coordination and composition; skills; robotic behavior
• Managing of non-functional properties
• Dependency graphs for composed components to enable predictability for navigation

This pilot or skeletons of this pilot have been used in teh following demonstrations:

• Robotic Behavior in RobMoSys using Behavior Trees and SmartSoft
• Dealing with Metrics on Non-Functional Properties in RobMoSys
• Using the YARP Framework and the R1 robot with RobMoSys