Towards Autonomously Navigating and Cooperating Vehicles in Cyber-Physical Production Systems

  • Adrian Böckenkamp
  • Frank Weichert
  • Jonas Stenzel
  • Dennis Lünsch
Conference paper
Part of the Technologien für die intelligente Automation book series (TIA)


This paper presents a (ROS-based) framework for the development and assessment of (decentralized) multi-robot coordination strategies for Cyber-Physical Production Systems (CPPS) taking into account practical issues like network delays, localization inaccuracies, and availability of embedded computational power. It constitutes the base for (a) investigating the beneficial level of (de-) centrality within Automated Guided Vehicle-based CPPS, and (b) finding adequate concepts for navigation and collision handling by means of behavior-, negotiationand rule-based strategies for resolving or proactively avoiding multi-robot path planning conflicts. Applying these concepts in industrial production is assumed to increase flexibility and fault-tolerance, e. g., with respect to machine failures or delivery delays at the shopfloor level.


decentralized coordination interoperability Cyber-Physical Production Systems (CPPS) autonomous navigation Automated Guided Vehicles (AGV) Robot Operating System (ROS) 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  • Adrian Böckenkamp
    • 1
  • Frank Weichert
    • 1
  • Jonas Stenzel
    • 2
  • Dennis Lünsch
    • 2
  1. 1.Technical University of DortmundDepartment of Computer Science VIIDortmundGermany
  2. 2.Fraunhofer Institute of Material Flow and LogisticsJoseph-von-Fraunhofer-Str. 2-4DortmundGermany

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