Ubiquitous Robotic Technology for Smart Manufacturing System

Table 2

Some of the actions in the smart factory task.

Action	Precondition	Effect	Probability
Move_AIMM_loc1_loc2	AIMM_loc = loc1	AIMM_loc = loc2	0.85
			0.1
		AIMM_loc = printer_spot	0.05
Move_AGV_loc3_loc5	AIMM_loc = loc3	AIMM_loc = loc5	0.85
			0.05
		AIMM_loc = loc2	0.05
		AIMM_loc = store_spot	0.05
Pickup_AIMM_store_part1	AIMM_loc = store_spot; part1_loc = store_spot; AIMM_hand_empty = true	part1_loc = AIMM, AIMM_hand_empty = false	0.9; 0.1
Putdown_AIMM_painter_part3	AIMM_loc = painter _spot; part3_loc = AIMM; AIMM_hand_empty = false	part3_loc = painter _spot, AIMM_hand_empty = true	1.0
Putdown_AIMM_printer_part2_AGV	AIMM_loc = printer_spot; AGV_loc = printer_spot; part2_loc = AIMM; AIMM_hand_empty = false	part2_loc = AGV, AIMM_hand_empty = true; part2_loc = printer_spot, AIMM_hand_empty = true	0.9; 0.1
Polish_part1	part1_loc = polish_spot; part1_polished = false	part1_polished = true, part1_color = white	0.8; 0.2
Paint_part1_red	part1_loc = paint_spot	part1_color = red	0.9; 0.1
Assemble_p1_p2	part1_loc = assemble_spot; part2_loc = assemble_spot; assembled_p1_p2 = false	assembled_p1_p3 = true	0.95; 0.05