Abstract: This article presents a conceptual framework for automated mission planning of mobile robots in smart factory
environments, integrating Building Information Modeling (BIM) with industrial digital twins. Our first contribution is
BIM2Robot, an open-source framework that systematically transforms building models, given in a standards-compliant IFC
description, into a ROS-compatible topological navigation graph including a geometric environment model and an executable
mission plan, enabling Automated Guided Vehicles (AGVs) to be deployed in the described building without manual waypoint
definitions. The second contribution is the Assembly Twin, a production digital twin built on NVIDIA Omniverse that
integrates design and process data from PLM and ALM platforms, real-time sensor streams via the Adaptive Framework for
Optical Sensors (AFOS), and AI-based assembly monitoring via the Confirmation and Tacit Data System (CTDS). The
Assembly Twin provides real-time worker guidance through extended reality interfaces and continuously tracks workbench
states and production progress. The integration of both systems establishes a closed loop between production intelligence and
robot navigation: When the Assembly Twin detects a production disruption, such as an unexpected workbench failure, it runs
a script provided by the BIM2Robot framework that generates an updated mission plan and reroutes the affected AGV(s)
autonomously. Relying on open standards including IFC, USD and OPC UA, the combined framework is adaptable and
accommodates continuous changes in the workplace layout. Generating robot code directly from a building model eliminates
the need for manual reconfiguration. Combined with a live digital twin of the assembly hall, AGVs benefit from a continuously
synchronized understanding of both the static geometry and the dynamic production state, enabling context-aware navigation
decisions that transcend purely geometric path planning.
Keywords: Robot motion planning, Digital twins, Assembly automation, Building Information Modeling (BIM), Robot
Operating System (ROS 2), Robot programming methodology, Code generation.
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