Abbenseth, JannikJannikAbbensethGarcia Lopez, FelipeFelipeGarcia LopezHenkel, ChristianChristianHenkelDörr, StefanStefanDörr2022-03-132022-03-132017https://publica.fraunhofer.de/handle/publica/39726610.1145/3019612.3019710In this paper we address the demand for flexibility and economic efficiency in industrial autonomous guided vehicle (AGV) systems by the use of cloud computing. We propose a cloud-based architecture that moves parts of mapping, localization and path planning tasks to a cloud server. We use a cooperative longterm Simultaneous Localization and Mapping (SLAM) approach which merges environment perception of stationary sensors and mobile robots into a central Holistic Environment Model (HEM). Further, we deploy a hierarchical cooperative path planning approach using Conflict-Based Search (CBS) to find optimal sets of paths which are then provided to the mobile robots. For communication we utilize the Manufacturing Service Bus (MSB) which is a component of the manufacturing cloud platform Virtual Fort Knox (VFK). We demonstrate the feasibility of this approach in a real-life industrial scenario. Additionally, we evaluate the system's communication and the planner for various numbers of agents.enCloud ComputingCloud TechnologieMulti-Agenten-SystemCloud NavigationRobotikServiceroboterconference paper