RealCaPP: Real-Time Capable Plug & Produce Service Architecture for Distributed Robot Control

The industry is transforming from mass production to individual production in which each product can be unique. This change requires the ability to easily add, replace, or remove plant components at runtime to make plants flexible and adaptable. Another important point for flexible production is that not only hardware components can be added, changed, or removed, but also software components can be distributed to different system components at runtime. All of this can be summarized under the term Plug & Produce. Therefore, we propose a service architecture that can distribute modular software components across multiple control devices at runtime.