Mobile autonomous, cooperative robots in complex value chains

The marion project aims to automate the working processes in the intra-logistics and agriculture areas through the collaboration of autonomous vehicles. It focuses on enabling motion and process planning for mobile machines and groups of machines. Intelligent assistant systems that autonomously perform tasks and support the human users involved in those processes will be implemented.

Duration: 01.08.2010 till 30.11.2013
Donee: German Research Center for Artificial Intelligence GmbH
Sponsor: Federal Ministry of Economics and Technology
Grant number: This research and development project is funded by the German Federal Ministry of Economics and Technology (BMWi) and supervised by the project management agency for multimedia, German Aerospace Center (DLR), Cologne, grant no. 01MA10027
Partner: CLAAS Selbstfahrende Erntemaschinen GmbH (Konsortialführer), STILL GmbH, Siemens IT Solutions and Services GmbH (C-LAB)
Application Field: Logistics, Production and Consumer
Agricultural Robotics

Project details

Cooperative threshing with several machines. (Source: CLAAS Selbstfahrende Erntemaschinen GmbH)
Source: CLAAS Selbstfahrende Erntemaschinen GmbH

The marion project aims to automate the working processes in the intra-logistics and agriculture areas through the collaboration of autonomous vehicles.

Many industries have to continuously increase their productivity due to competitive environments. The dependencies within the supply chains thus become stronger and the participants are more interconnected with each other. Increasing the efficiency through machines provides only limited improvement to overall productivity. Of greater importance is the implementation of intelligent management of the supply chain which takes into account the specific capabilities of the machines and their mobility, especially in dynamic environments. Business process automation and robotization are often considered as to be one and the same because robots are not only technological solutions but are deeply engaged in the process organization.

In the marion project, the automation will be realized through intelligent assistant systems that perform the processes autonomously and support the people involved in those processes. The implementations will be carried out within two application areas; intralogistics transport systems in the subproject "Intralogistic automated load and unload from trailer train" (STILL) and agriculture in the subproject "Infield-transport logistic autonomous agricultural machines" (CLAAS).

The modelling of the working process and the realizations of its functionalities in logistic and agriculture areas will be conducted in the subproject "Modelling and architecture for autonomous systems" (Siemens). In addition, this subproject is responsible for the IT architecture and business models for later recovery. marion focuses on the motion and process planning for mobile machines and groups of machines. A partial result is a planning system that dynamically takes into account the present situation in its generated plan. This includes recognizing the necessity for re-planning and automatically generating such a plan. Appropriate processes should be carried out automatically by the system, while other processes are presented to the operator in the context-specific information to assist operator decisions. The planning system will be developed in the subproject "Automated dynamic planning system for transport logistic and working processes" (DFKI).


Project marion

Results of the marion project: cooperative robots for intralogistics and agriculture.



Rendezvous mit Marion
Ronny Hartanto, Stephan Scheuren, Stefan Stiene, Joachim Hertzberg
In VDMA Themen-Supplements, VDMA Verlag, volume Servicerobotik - bringt Automation in Schwung, number 2014/05, pages 24-25, May/2014.


Dynamic distributed infield planning and steering system for autonomous harvesting
Ronny Hartanto, Stephan Scheuren, Max Reinecke, Hans-Peter Grothaus
In Proceedings of the 71st International Conference on Agricultural Engineering LAND TECHNIK, (AgEng-2013), 08.11.-09.11.2013, Hannover, VDI Verlag GmbH, Nov/2013.
Forschungsprojekt "marion" dirigiert autonome mobile Maschinen
Gudrun Tschirner-Vinke, Ronny Hartanto, Max Reinecke, Volker Viereck
In IT & Production, Technik-Dokumentations-Verlag GmbH, volume 7+8, pages 72-73, Aug/2013.
Dynamic and distributed Infield-Planning System for Harvesting
Max Reinecke, Hans-Peter Grothaus, Gerhard Hembach, Stephan Scheuren, Ronny Hartanto
In Proceedings of American Society of Agricultural and Biological Engineers 2013 , (ASABE-2013), 21.7.-24.7.2013, Kansas City, MO, Curran Associates, Inc., pages 156-160, Jul/2013. ISBN: 978-1-62748-665-1.
Infield Path Planning for Autonomous Unloading Vehicles
Stephan Scheuren, Joachim Hertzberg, Stefan Stiene, Ronny Hartanto
Editors: Michael Clasen
In Referate der 33. GIL-Jahrestagung in Potsdam 2013 - Massendatenmanagement in der Agrar- und Ernährungswirtschaft, (GIL-2013), 20.2.-20.2.2013, Potsdam, Köller Druck+Verlag GmbH, pages 295-298, Feb/2013. ISBN: 978-3-88579-605-3.
Spatio-temporally Constrained Planning for Cooperative Vehicles in a Harvesting Scenario
Stephan Scheuren, Stefan Stiene, Ronny Hartanto, Joachim Hertzberg, Max Reinecke
In KI - Künstliche Intelligenz, German Journal on Artificial Intelligence - Organ des Fachbereiches "Künstliche Intelligenz" der Gesellschaft für Informatik e.V., Springer Verlag GmbH, volume 27, number 4, pages o.A.-o.A., 2013.


Dynamisches, verteiltes Infield-Planungssystem für die Getreideernte
Max Reinecke, Christian Schäperkötter, Hans-Peter Grothaus, Stefan Stiene, Ronny Hartanto, Stephan Scheuren
In Proceedings of the 70th International Conference on Agricultural Engineering LAND TECHNIK AgEng 2012, (AgEng-2012), 06.11.-07.11.2012, Karlsruhe, VDI, pages 127-132, Nov/2012. ISBN: 978-3-18-092173-0 .
Approximating Reference Trajectories for Autonomous Vehicles using Motion Primitives
Stephan Scheuren, Stefan Stiene, Ronny Hartanto, Joachim Hertzberg
In Autonome Mobile Systeme 12, (AMS-12), 26.9.2012, Stuttgart, Springer, Sep/2012.
Von der Automation zur Kooperation
Ronny Hartanto, Stephan Scheuren, Stefan Stiene
In Computer & Automation, WEKA Fachmedien GmbH - Fachmagazin der Fertigungs- und Prozesstechnik, volume 7/2012, pages 28-32, Jul/2012.
marion - Produktivitätsoptimierung und dynamische Fahrwegsplanung für Intralogistik und Landwirtschaft
Ronny Hartanto, May Reinecke, Volker Viereck, Gudrun Tschirner-Vinke
In Productivity Management, GITO mbH - Verlag für industrielle Informationstechnik und Organisation, volume 1/2012, pages 62-62, Mar/2012.


Wireless communication on the field following ISO 11783 for autonomous process planning and controlling of cooperating mobile agricultural machines
Christian Rusch, Max Reinecke, Hans-Peter Grothaus, Ludger Autermann, Ronny Hartanto, Emanuel Geogiew
In 69th International Conference on Agricultural Engineering LAND TECHNIK AgEng 2011, (AgEng-2011), 11.11.-12.11.2011, Hannover, o.A., Nov/2011.
The Problem of Spatio-temporally Constrained Motion Planning for Cooperative Vehicles
Stephan Scheuren, Stefan Stiene, Joachim Hertzberg, Ronny Hartanto, Max Reinecke
In Proceedings of the 26th Workshop "Planen, Scheduling und Konfigurieren, Entwerfen "(PuK 2011), (PuK-2011), 04.10.2011, Berlin, o.A., Oct/2011.

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last updated 04.01.2024