KI - Künstliche Intelligenz

, Volume 28, Issue 4, pp 325–328 | Cite as

Process-Optimized Planning for Cooperative Mobile Robots

  • Stephan ScheurenEmail author
Doctoral and Postdoctoral Dissertations


In the last decades the efficiency of agricultural machines has been steadily increased. Due to physical and legal reasons, only little potential for further improvement remains when regarding a single machine. However, those machines spend a considerable amount of time idling, e.g. when a harvester has to wait for a transport vehicle. Coordination of cooperative machines yields potential for efficiency enhancements regarding the overall process. To profit from it superordinate planning systems have to be developed that optimize the machines’ coordination regarding specific process goals.

In this thesis such a planning system for a cooperative harvesting scenario is described. The harvesting and transport process of grain has to be planned and executed. The scenario is referred to as infield transport logistics (Fig. 1) since the further street transport is not regarded.

The main task of the harvesters is to process the complete inner field area that is divided into...


Planning System Path Planning Process Execution Feasible Path Route Planning 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



This work was partly funded by the German Federal Ministry for Economic Affairs and Energy (BMWi) in the context of the project marion (Grant No. 01MA10027).


  1. 1.
    Scheuren S (2014) Prozessoptimierte Planung für kooperative mobile Roboter. Universität Osnabrück, Osnabrück. Available online at
  2. 2.
    Search-Based Planning Lab, SBPL. Available online at (2014)
  3. 3.
    Scheuren S, Stiene S, Hartanto R, Hertzberg J (2012) Approximating reference trajectories for autonomous vehicles using motion primitives, Autonome Mobile Systeme 12, Springer, New YorkGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  1. 1.DFKI GmbH OsnabrückGermany

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