Control Architecture for Additive Manufacturing Robotic Systems

A non-transitory machine readable medium containing program instructions that are executable by a set of one or more processors to perform a method comprising:

• receiving a target state for a target object;
• generating a plan based on the received target state;
• controlling a plurality of components of a hardware system based on the generated plan, wherein controlling the plurality of components comprises scheduling at least one non-real-time instruction and at least one real-time instruction for the plurality of components;
• receiving a set of environment data, wherein the set of environment data comprises a set of sensor data, a set of simulation data, and a set of robot telemetry data;
• estimating a state for the target object;
• and
• updating the plan based on the received set of environment data, the estimated state for the target object, and the target state for the target object.

A system comprising:

• a set of one or more processors;
• and
• a non-transitory machine readable medium containing program instructions that are executable by the set of one or more processors to perform a method comprising:
• receiving a target state for a target object;
• generating a plan based on the received target state;
• controlling a plurality of components of a hardware system based on the generated plan, wherein controlling the plurality of components comprises scheduling at least one non-real-time instruction and at least one real-time instruction for the plurality of components;
• receiving a set of environment data, wherein the set of environment data comprises a set of sensor data, a set of simulation data, and a set of robot telemetry data;
• estimating a state for the target object;
• and
• updating the plan based on the received set of environment data, the estimated state for the target object, and the target state for the target object.