As themanufacturing tasks becomemore individualized andmore flexible, the machines in smart factory are required to do variable\ntasks collaboratively without reprogramming. This paper for the first time discusses the similarity between smart manufacturing\nsystems and the ubiquitous robotic systems and makes an effort on deploying ubiquitous robotic technology to the smart factory.\nSpecifically, a component based framework is proposed in order to enable the communication and cooperation of the heterogeneous\nrobotic devices. Further, compared to the service robotic domain, the smart manufacturing systems are often in larger size. So a\nhierarchical planning method was implemented to improve the planning efficiency. A test bed of smart factory is developed. It\ndemonstrates that the proposed framework is suitable for industrial domain, and the hierarchical planning method is able to solve\nlarge problems intractable with flat methods.
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