{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,23]],"date-time":"2026-03-23T16:14:33Z","timestamp":1774282473509,"version":"3.50.1"},"reference-count":40,"publisher":"Springer Science and Business Media LLC","issue":"8","license":[{"start":{"date-parts":[[2023,10,12]],"date-time":"2023-10-12T00:00:00Z","timestamp":1697068800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2023,10,12]],"date-time":"2023-10-12T00:00:00Z","timestamp":1697068800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100002745","name":"Bayerische Forschungsstiftung","doi-asserted-by":"publisher","award":["AZ-1225-16"],"award-info":[{"award-number":["AZ-1225-16"]}],"id":[{"id":"10.13039\/501100002745","id-type":"DOI","asserted-by":"publisher"}]},{"name":"German-French Academy for the Industry of the Future of Institute Mines-Telecom (IMT) and Technical University of Munich"},{"DOI":"10.13039\/501100020639","name":"Bayerische Staatsministerium f\u00fcr Wirtschaft, Landesentwicklung und Energie","doi-asserted-by":"publisher","award":["DIK-2105-0045"],"award-info":[{"award-number":["DIK-2105-0045"]}],"id":[{"id":"10.13039\/501100020639","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100020639","name":"Bayerische Staatsministerium f\u00fcr Wirtschaft, Landesentwicklung und Energie","doi-asserted-by":"publisher","award":["DIK0357\/01"],"award-info":[{"award-number":["DIK0357\/01"]}],"id":[{"id":"10.13039\/501100020639","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100005713","name":"Technische Universit\u00e4t M\u00fcnchen","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100005713","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Manuf"],"published-print":{"date-parts":[[2024,12]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>High product diversity, dynamic market conditions, and a lack of skilled workers are current challenges in manufacturing. Industrial robots autonomously planning and completing upcoming production tasks can help companies address these challenges. In this publication, we focus on autonomous task planning within industrial robotics and investigate how to facilitate the use of automated planning techniques from the field of artificial intelligence for this purpose. First, we present a novel methodology to automatically adapt abstractly modeled planning domains to the characteristics of individual application cases a user intends to implement. A planning domain is a formalized representation of the robot\u2019s working environment that builds the basis for automated planning. Second, we integrate this approach into the procedure for developing skills-based industrial robotic applications to enable them to perform autonomous task planning. Finally, we demonstrate the use of the methodology within the application field kitting in two reference scenarios with a mobile robot and a stationary robot cell. Using our methodology, persons without expertise in automated planning can enable a robot for autonomous task planning without much extra effort.<\/jats:p>","DOI":"10.1007\/s10845-023-02211-3","type":"journal-article","created":{"date-parts":[[2023,10,12]],"date-time":"2023-10-12T16:02:45Z","timestamp":1697126565000},"page":"4233-4258","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Concept for the automated adaption of abstract planning domains for specific application cases in skills-based industrial robotics"],"prefix":"10.1007","volume":"35","author":[{"ORCID":"https:\/\/orcid.org\/0009-0001-9392-1188","authenticated-orcid":false,"given":"Lisa","family":"Heuss","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7757-0261","authenticated-orcid":false,"given":"Daniel","family":"Gebauer","sequence":"additional","affiliation":[]},{"given":"Gunther","family":"Reinhart","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,10,12]]},"reference":[{"key":"2211_CR1","unstructured":"Berger, J., Colceriu, C., Blank, A., Franke, J., H\u00e4rdtlein, C., Hellig, T., Heinrich, D., Heuss, L., Hiller, M., Kr\u00e4, M., Leichtmann, B., Lottermoser, A., Lu, S., Nitsch, V., Reinhart, G., Riedl, M. Roder, S., Sch\u00e4fer, K., Schilp, J, Vogt, L., & Z\u00e4h, M. F. (2021). Abschlussbericht: FORobotics\u2014Mobile ad-hoc kooperierende Roboterteams. Retrieved April 15, 2023, from https:\/\/publica.fraunhofer.de\/entities\/publication\/c5a9b2b6-7ba2-4f72-bb70-f992d853f240\/details"},{"issue":"5","key":"2211_CR2","doi-asserted-by":"publisher","first-page":"2319","DOI":"10.3390\/app12052319","volume":"12","author":"S-O Bezrucav","year":"2022","unstructured":"Bezrucav, S.-O., & Corves, B. (2022). Modelling automated planning problems for teams of mobile manipulators in a generic industrial scenario. Applied Sciences, 12(5), 2319. https:\/\/doi.org\/10.3390\/app12052319","journal-title":"Applied Sciences"},{"key":"2211_CR3","unstructured":"B\u00f8gh, S., Nielsen, O. S., Pedersen, M. R., Kr\u00fcger, V., & Madsen, O. (2012). Does your robot have skills? In Proceedings of the 43rd international symposium on robotics. VDE Verlag GMBH."},{"key":"2211_CR4","doi-asserted-by":"publisher","unstructured":"Cashmore, M., Fox, M., Long, D., Magazzeni, D., Ridder, B., Carrera, A., Palomeras, N., Hurtos, N., & Carreras, M. (2015). ROSPlan: Planning in the robot operating system. In Proceedings of the 25th international conference on automated planning and scheduling (Vol. 25, pp. 333\u2013341). https:\/\/doi.org\/10.1609\/icaps.v25i1.13699","DOI":"10.1609\/icaps.v25i1.13699"},{"key":"2211_CR5","unstructured":"Crosby, M., Rovida, F., Pedersen, M. R., Petrick, R. P. A., & Kr\u00fcger, V. (2016). In planning for robots with skills. In Proceedings of the 4th workshop on planning and robotics (pp. 49\u201357)."},{"key":"2211_CR6","unstructured":"drag and bot GmbH. (2023). drag&bot website. Retrieved February 19, 2023, from https:\/\/www.dragandbot.com\/de\/"},{"key":"2211_CR7","unstructured":"Edelkamp, S., & Hoffmann, J. (2004). PDDL2.2: The language for the classical part of the 4th international planning competition (Technical Report No. 195)"},{"key":"2211_CR8","unstructured":"Fast Downward. (2023). Fast downward. The wiki of the Fast Downward planning system. Retrieved April 15, 2023, from https:\/\/www.fast-downward.org\/"},{"key":"2211_CR9","unstructured":"FRANKA EMIKA GmbH. (2023). FRANKA EMIKA website. Retrieved February 19, 2023, from https:\/\/www.franka.de\/de"},{"key":"2211_CR10","unstructured":"Ghallab, M., Howe, A., Knoblock, C., McDermott, D., Ram, A., Veloso, M., Weld, D., & Wilkins, D. (1998). PDDL\u2014The planning domain definition language: Version 1.2 (Tech Report CVC TG-98\u2013003\/DCS TR-1165)."},{"key":"2211_CR11","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9781139583923","volume-title":"Automated planning and acting","author":"M Ghallab","year":"2016","unstructured":"Ghallab, M., Nau, D., & Traverso, P. (2016). Automated planning and acting. Cambridge University Press."},{"key":"2211_CR12","unstructured":"Green, A., Reji, B. J., Muise, C., Scala, E., Meneguzzi, F., Rico, F. M., Stairs, H., Dolejsi, J., Magnaguagno, M., & Mounty, J. (2023). Planning.Wiki\u2014The AI planning & PDDL wiki. Retrieved July 7, 2023, from https:\/\/planning.wiki\/"},{"key":"2211_CR13","doi-asserted-by":"publisher","first-page":"1385","DOI":"10.1007\/978-3-319-32552-1_54","volume-title":"Springer handbook of robotics","author":"M H\u00e4gele","year":"2016","unstructured":"H\u00e4gele, M., Nilsson, K., Pires, J. N., & Bischoff, R. (2016). Industrial robotics. In B. Siciliano & O. Khatib (Eds.), Springer handbook of robotics (2nd ed., pp. 1385\u20131421). Springer.","edition":"2"},{"key":"2211_CR14","unstructured":"Hammerstingl, V., & Reinhart, G. (2018). Skills in assembly. Retrieved April 15, 2023, from https:\/\/mediatum.ub.tum.de\/1428286"},{"key":"2211_CR15","first-page":"248","volume-title":"IFIP advances in information and communication technology. Advances in production management systems. Production management for the factory of the future","author":"L Heuss","year":"2019","unstructured":"Heuss, L., Blank, A., Dengler, S., Zikeli, G. L., Reinhart, G., & Franke, J. (2019). Modular robot software framework for the intelligent and flexible composition of its skills. In F. Ameri, K. E. Stecke, G. von Cieminski, & D. Kiritsis (Eds.), IFIP advances in information and communication technology. Advances in production management systems. Production management for the factory of the future (Vol. 566, pp. 248\u2013256). Berlin: Springer."},{"issue":"9\u201310","key":"2211_CR16","doi-asserted-by":"publisher","first-page":"6269","DOI":"10.1007\/s00170-022-09071-w","volume":"120","author":"L Heuss","year":"2022","unstructured":"Heuss, L., Gonnermann, C., & Reinhart, G. (2022). An extendable framework for intelligent and easily configurable skills-based industrial robot applications. The International Journal of Advanced Manufacturing Technology, 120(9\u201310), 6269\u20136285. https:\/\/doi.org\/10.1007\/s00170-022-09071-w","journal-title":"The International Journal of Advanced Manufacturing Technology"},{"issue":"9","key":"2211_CR17","doi-asserted-by":"publisher","first-page":"574","DOI":"10.37544\/1436-4980-2018-09-10","volume":"108","author":"L Heuss","year":"2018","unstructured":"Heuss, L., Lux-Gruenberg, G., Hammerstingl, V., Schn\u00f6s, F., Rinck, P., Reinhart, G., & Z\u00e4h, M. (2018). Mobile Autonome Roboter in der Smart Factory: Dynamische Planung und Adaption mobiler Roboter f\u00fcr die flexible Produktion. Wt Werkstattstechnik Online, 108(9), 574\u2013579.","journal-title":"Wt Werkstattstechnik Online"},{"key":"2211_CR18","doi-asserted-by":"publisher","unstructured":"Heuss, L., & Reinhart, G. (2020). Integration of autonomous task planning into reconfigurable skill-based industrial robots. In 25th IEEE international conference on emerging technologies and factory automation (pp. 1293\u20131296). https:\/\/doi.org\/10.1109\/etfa46521.2020.9212005","DOI":"10.1109\/etfa46521.2020.9212005"},{"key":"2211_CR19","doi-asserted-by":"publisher","unstructured":"Hofmann, T., Niemueller, T., & Lakemeyer, G. (2017). Initial results on generating macro actions from a plan database for planning on autonomous mobile robots. In Proceedings of the 27th international conference on automated planning and scheduling (Vol. 27, pp. 498\u2013503). https:\/\/doi.org\/10.1609\/icaps.v27i1.13868","DOI":"10.1609\/icaps.v27i1.13868"},{"key":"2211_CR20","doi-asserted-by":"publisher","unstructured":"Huckaby, J., Vassos, S., & Christensen, H. I. (2013). Planning with a task modeling framework in manufacturing robotics. In 2013 IEEE\/RSJ international conference on intelligent robots and systems (pp. 5787\u20135794). https:\/\/doi.org\/10.1109\/IROS.2013.6697194","DOI":"10.1109\/IROS.2013.6697194"},{"key":"2211_CR21","unstructured":"International Federation of Robotics. (2020). How connected robots are transforming manufacturing. Retrieved February 10, 2023, from https:\/\/ifr.org\/papers"},{"key":"2211_CR22","unstructured":"International Federation of Robotics. (2022). Market presentation of World Robotics 2022. Retrieved February 19, 2023, from https:\/\/ifr.org\/downloads\/press2018\/2022_WR_extended_version.pdf"},{"issue":"5","key":"2211_CR23","doi-asserted-by":"publisher","first-page":"481","DOI":"10.1108\/IR-02-2016-0071","volume":"43","author":"Z Kootbally","year":"2016","unstructured":"Kootbally, Z. (2016). Industrial robot capability models for agile manufacturing. Industrial Robot: An International Journal, 43(5), 481\u2013494. https:\/\/doi.org\/10.1108\/IR-02-2016-0071","journal-title":"Industrial Robot: An International Journal"},{"key":"2211_CR24","doi-asserted-by":"publisher","first-page":"42","DOI":"10.1016\/j.rcim.2014.08.006","volume":"33","author":"Z Kootbally","year":"2015","unstructured":"Kootbally, Z., Schlenoff, C., Lawler, C., Kramer, T., & Gupta, S. K. (2015). Towards robust assembly with knowledge representation for the planning domain definition language (PDDL). Robotics and Computer-Integrated Manufacturing, 33, 42\u201355. https:\/\/doi.org\/10.1016\/j.rcim.2014.08.006","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"issue":"2","key":"2211_CR25","doi-asserted-by":"publisher","first-page":"121","DOI":"10.1007\/s11465-018-0483-0","volume":"13","author":"Y Koren","year":"2018","unstructured":"Koren, Y., Gu, X., & Guo, W. (2018). Reconfigurable manufacturing systems: Principles, design, and future trends. Frontiers of Mechanical Engineering, 13(2), 121\u2013136. https:\/\/doi.org\/10.1007\/s11465-018-0483-0","journal-title":"Frontiers of Mechanical Engineering"},{"key":"2211_CR26","doi-asserted-by":"publisher","first-page":"11","DOI":"10.1016\/j.artmed.2017.07.002","volume":"80","author":"J-B Lamy","year":"2017","unstructured":"Lamy, J.-B. (2017). Owlready: Ontology-oriented programming in Python with automatic classification and high level constructs for biomedical ontologies. Artificial Intelligence in Medicine, 80, 11\u201328. https:\/\/doi.org\/10.1016\/j.artmed.2017.07.002","journal-title":"Artificial Intelligence in Medicine"},{"key":"2211_CR27","doi-asserted-by":"publisher","unstructured":"Liang, Y. S., Pellier, D., Fiorino, H., & Pesty, S. (2019). End-user programming of low-and high-level actions for robotic task planning. In 2019 28th IEEE international conference on robot and human interactive communication (pp. 1\u20138). https:\/\/doi.org\/10.1109\/RO-MAN46459.2019.8956327","DOI":"10.1109\/RO-MAN46459.2019.8956327"},{"issue":"1","key":"2211_CR28","doi-asserted-by":"publisher","first-page":"47","DOI":"10.3233\/AIC-170748","volume":"31","author":"A Marrella","year":"2018","unstructured":"Marrella, A., Mecella, M., & Sardi\u00f1a, S. (2018). Supporting adaptiveness of cyber-physical processes through action-based formalisms. AI Communications, 31(1), 47\u201374. https:\/\/doi.org\/10.3233\/AIC-170748","journal-title":"AI Communications"},{"key":"2211_CR29","doi-asserted-by":"publisher","DOI":"10.1155\/2013\/942347","author":"J Ortiz","year":"2013","unstructured":"Ortiz, J., Garc\u00eda-Olaya, A., & Borrajo, D. (2013). Using activity recognition for building planning action models. International Journal of Distributed Sensor Networks. https:\/\/doi.org\/10.1155\/2013\/942347","journal-title":"International Journal of Distributed Sensor Networks"},{"issue":"4","key":"2211_CR30","doi-asserted-by":"publisher","first-page":"6481","DOI":"10.1109\/LRA.2021.3094498","volume":"6","author":"Y Pane","year":"2021","unstructured":"Pane, Y., Mokhtari, V., Aertbelien, E., De Schutter, J., & Decre, W. (2021). Autonomous runtime composition of sensor-based skills using concurrent task planning. IEEE Robotics and Automation Letters, 6(4), 6481\u20136488. https:\/\/doi.org\/10.1109\/LRA.2021.3094498","journal-title":"IEEE Robotics and Automation Letters"},{"key":"2211_CR31","doi-asserted-by":"publisher","unstructured":"Pantano, M., Eiband, T., & Lee, D. (2022). Capability-based frameworks for industrial robot skills: a survey. In 2022 IEEE 18th international conference on automation science and engineering (pp. 2355\u20132362). https:\/\/doi.org\/10.1109\/CASE49997.2022.9926648","DOI":"10.1109\/CASE49997.2022.9926648"},{"key":"2211_CR32","doi-asserted-by":"publisher","unstructured":"Paxton, C., Hundt, A., Jonathan, F., Guerin, K., & Hager, G. D. (2016). CoSTAR: Instructing collaborative robots with behavior trees and vision. In 2017 IEEE international conference on robotics and automation (pp. 564\u2013571). https:\/\/doi.org\/10.1109\/ICRA.2017.7989070","DOI":"10.1109\/ICRA.2017.7989070"},{"key":"2211_CR33","doi-asserted-by":"publisher","first-page":"282","DOI":"10.1016\/j.rcim.2015.04.002","volume":"37","author":"MR Pedersen","year":"2016","unstructured":"Pedersen, M. R., Nalpantidis, L., Andersen, R. S., Schou, C., B\u00f8gh, S., Kr\u00fcger, V., & Madsen, O. (2016). Robot skills for manufacturing: From concept to industrial deployment. Robotics and Computer-Integrated Manufacturing, 37, 282\u2013291. https:\/\/doi.org\/10.1016\/j.rcim.2015.04.002","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"2211_CR34","first-page":"70","volume":"10","author":"A Peichl","year":"2022","unstructured":"Peichl, A., Sauer, S., & Wohlrabe, K. (2022). Fachkr\u00e4ftemangel in Deutschland und Europa\u2014Historie, status quo und was getan werden muss. Ifo Schnelldienst, 10, 70\u201375.","journal-title":"Ifo Schnelldienst"},{"key":"2211_CR35","first-page":"121","volume-title":"Robot operating system (ROS). Studies in computational intelligence","author":"F Rovida","year":"2017","unstructured":"Rovida, F., Crosby, M., Holz, D., Polydoros, A., Gro\u00dfmann, B., Petrick, P. A., & Kr\u00fcger, V. (2017). SkiROS\u2014A skill-based robot control platform on top of ROS. In A. Koubaa (Ed.), Robot operating system (ROS). Studies in computational intelligence (pp. 121\u2013160). Springer."},{"key":"2211_CR36","doi-asserted-by":"publisher","unstructured":"Sch\u00e4fer, P. M., Steinmetz, F., Schneyer, S., Bachmann, T., Eiband, T., Lay, F. S., Padalkar, A., S\u00fcrig, C., Stulp, F., & Nottensteiner, K. (2021). Flexible robotic assembly based on ontological representation of tasks, skills, and resources. In E. Erdem, M. Bienvenu, & G. Lakemeyer (Eds.), Proceedings of the eighteenth international conference on principles of knowledge representation and reasoning (pp. 702\u2013706). International Joint Conferences on Artificial Intelligence Organization. https:\/\/doi.org\/10.24963\/kr.2021\/73","DOI":"10.24963\/kr.2021\/73"},{"key":"2211_CR37","doi-asserted-by":"publisher","first-page":"56","DOI":"10.1016\/j.rcim.2014.07.004","volume":"33","author":"M Stenmark","year":"2015","unstructured":"Stenmark, M., & Malec, J. (2015). Knowledge-based instruction of manipulation tasks for industrial robotics. Robotics and Computer-Integrated Manufacturing, 33, 56\u201367. https:\/\/doi.org\/10.1016\/j.rcim.2014.07.004","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"2211_CR38","doi-asserted-by":"publisher","unstructured":"Thomas, U., Hirzinger, G., Rumpe, B., Schulze, C., & Wortmann, A. (2013). A new skill based robot programming language using UML\/P Statecharts. In 2013 IEEE international conference on robotics and automation (pp. 461\u2013466). https:\/\/doi.org\/10.1109\/ICRA.2013.6630615","DOI":"10.1109\/ICRA.2013.6630615"},{"issue":"2","key":"2211_CR39","doi-asserted-by":"publisher","first-page":"215","DOI":"10.1017\/S0269888912000434","volume":"28","author":"TS Vaquero","year":"2013","unstructured":"Vaquero, T. S., Silva, J. R., Tonidandel, F., & Christopher Beck, J. (2013). itSIMPLE: Towards an integrated design system for real planning applications. The Knowledge Engineering Review, 28(2), 215\u2013230. https:\/\/doi.org\/10.1017\/S0269888912000434","journal-title":"The Knowledge Engineering Review"},{"key":"2211_CR40","doi-asserted-by":"publisher","unstructured":"Wenger, M., Eisenmenger, W., Neugschwandtner, G., Schneider, B., & Zoitl, A. (2016). A model based engineering tool for ROS component compositioning, configuration and generation of deployment information. In 2016 IEEE 21st international conference on emerging technologies and factory automation (pp. 1\u20138). https:\/\/doi.org\/10.1109\/ETFA.2016.7733559","DOI":"10.1109\/ETFA.2016.7733559"}],"container-title":["Journal of Intelligent Manufacturing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10845-023-02211-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10845-023-02211-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10845-023-02211-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,11,18]],"date-time":"2024-11-18T18:05:25Z","timestamp":1731953125000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10845-023-02211-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,10,12]]},"references-count":40,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2024,12]]}},"alternative-id":["2211"],"URL":"https:\/\/doi.org\/10.1007\/s10845-023-02211-3","relation":{},"ISSN":["0956-5515","1572-8145"],"issn-type":[{"value":"0956-5515","type":"print"},{"value":"1572-8145","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,10,12]]},"assertion":[{"value":"27 April 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"1 September 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"12 October 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no competing interests to declare that are relevant to the content of this article.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}