WORLD MODEL

The World Model is a dynamic model that represents the current state of the system at any given point and it is responsible for updating the status of the resources and the progress of the tasks, for both human and robots. To achieve this, the world model aggregates information from the planning phase, various runtime software modules and machinery sensors, while it is capable to receive human acknowledge messages from either physical or virtual buttons (Smartwatch). The monitoring is performed by the World Model through the corresponding ROS based trackers. Moreover, through the button tracker the World Model can switch the execution control between human and robot. The Task progress that is calculated by the WM is used for orchestrating the AR Human Instructions visualization and for feeding data to legacy systems, such as Manufacturing system (MES), ERP and SCADA.