ProSeqqo

Installation
Hello World!
Task definition
Result description
Examples
Skeletons
Papers

About

Generic task sequencer that captures typical sequencing problems encountered in robot applications.

• Easily integrated into complex solution workflows
• Standalone executable with file interface (.seq, .json, .xml), .dll function calls, Docker contained REST
• Provides close-to-optimal (but not necessarily optimal) solutions quickly
• Compact solver based on an open-source VRP solver engine - Google-OR-Tools
• Arbitrary dimension - 2D, 3D or robotic joint space planning
• Build-in cost functions - Euclidian, Max, Manhattan, Trapezoid Time, Matrix
• General description language to describe sequencing problems
• Order constraints
• Resource handling

Visual Studio 2019 Solution:

• ProSeqqoLib - .NET 5.0 Class Library
• ProSeqqoConsole - .NET 5.0 Console Application
• ProSeqqoTest - .NET 5.0 MSTest Framework Application
• ProSeqqoVisualization - .NET 5.0 WPF Application
• Example
• Example/HelloWorld
• Example/Skeletons
• * ProSeqqoWebService - ASP.NET 5.0 REST Web Service

Representation

Configurations defined in task space or robot configuration space in arbitrary dimensions. These configurations filled into a hierarchy; every configuration take place in a Motion, Task, Alternative and Process. The distance between the configurations can be defined by a matrix or calculated automatically with the selected function. The result of the execution is a list of Positions corresponds to the following:

• Each of the n Processes has to be executed
• by selecting one of the given Alternatives…
• And executing every Task of the alternative…
• By visiting every Configuration of one possible Motion of the given Task.

The given task translated to a general travelling salesman (GTSP) graph as an input of the Google-OR-Tools VRP solver.
Parameters and description language available here and result description is here.

Side constraints:

• Precedence constraints between Motions
• Precedence constraints between Processes
• Only one motion used in a task (Disjunctive constraint, generated automatically)
• Only one alternative used in a process (Disjunctive constraint, generated automatically)

Features:

• Cyclic and acyclic sequences with optional start and finish configuration.
• Automatic cost computation - Euclidian, Max, Manhattan, Trapezoid time
• Arbitrary costs by matrix
• Penalty for tool path or motion interruption.
• Resource and resource changeover cost handling.
• Metaheuristic configuration and time limit for VRP solver by OR-Tools.

Install:

• Standalone executable
• Dynamic Link Library (DLL)
• Visual Studio 2019 Solution
• Docker Container - REST API

Installation details are available here.

Examples:

• Camera-based pick and place
• Cube pick and place with multiple grasp configuration and many order constraints
• Robotic drawing
• Laser engraving
• Three-step grinding of furniture parts

Hello World! available here.
Examples and description available here.
Code and file skeletons here.

Documentation:

Documentation is here.

Contributing:

If you find any bugs, please report them! I am also happy to accept pull requests from anyone.
You can use the issue tracker to report bugs, ask questions, suggest new features or personally:
Kovács András - kovacs.andras@sztaki.hu
Zahorán László - zahoran.laszlo@sztaki.hu
License