Festo MPS PDDL Demonstrator - Processing and Storing with Occupancy Check

This video shows how a PDDL model that is solved using game theoretic approaches can be used to control an industrial automation line. In this specific setup, the goal is to store red and silver/white work pieces in respective levels of the storage rack, however the model dictates that there are only two positions available per color. The system initially does not know whether any storage positions are already occupied and hence determines the occupancy state with the color sensor. If a work piece can not be stored, because the resepective level is already full, the work piece is returned to the user. The solver used in this setup is called GAVS+ and can be downloaded from here: http://www6.in.tum.de/~chengch/gavs/