Radio Resource- and Quality of Control-aware Planning For Self-reconfiguring Factory Cells

"In this paper, we propose a Quality of Control aware self-reconfiguring factory cell composed of modular robot elements.
 The planner is a necessary component. We discuss how the planner reacts to certain practical constraints.
 We prove with the help of domain independent planning that modular robots are viable aid in a factory cell to speed up productivity. 
 We evaluate the proposed system in a physical simulation environment.
 The screen recordings of all the scenarios are shown on [1]."