This invention describes a unified pipeline for generating, optimizing, and executing robotic behavior models in web-based and industrial environments. It aggregates URDF, CAD/manufacturer data, inverse-kinematics logic, rendering settings, and WebAssembly compatibility into a modular description that can be used by simulation tools, browser-based 3D editors, and industrial edge runtimes.

• Technical problem: robotic modeling workflows are fragmented across URDF editing, IK generation, desktop simulation, vendor-specific tools, and inefficient web deployment.
• Core contribution: a Robotic Behavior Model Aggregate Description that combines behavior mapping, joints, links, render settings, IK serialization, and WASM execution artifacts.
• Engineering value: enables lightweight browser simulation, virtual commissioning, industrial training, and reusable robot behavior assets across NX MCD, Plant Simulation, Process Simulate, WebGL editors, and edge/cloud deployments.
• AI/OT value: exposes robot behavior as a structured model that AI agents can inspect, generate, validate, and connect to workflow orchestration.

This invention proposes an Industrial Logic Emitter that fuses finite state machines, hierarchical state machines, behavior trees, and rule engines into a unified digital-control description and execution approach. It targets industrial workflows that originate from SOP, BOP, machine skills, controller instructions, and human work steps but are currently implemented through incompatible logical paradigms.

• Technical problem: FSM/HFSM, behavior tree, and rule-engine systems are hard to combine, understand, modify, and execute in a standardized industrial environment.
• Core contribution: a logic emitter with behavior descriptions, logic descriptions, a logic dispatcher, mutated-state mapping, and a common orchestration engine.
• Interoperability value: maps heterogeneous state-machine standards such as PackML, ISA-88 batch states, and IEC 61499 state concepts into a compatible control structure.
• Runtime value: enables logic of choice so different industrial logic models can be described and executed in one orchestrator while still controlling OT hardware, software, and human actions.

This invention addresses heterogeneous AGV and AMR fleets whose vendor-specific robot control systems use incompatible maps, protocols, and dispatch mechanisms. The proposed middleware sits above native RCS layers, fuses navigation maps into a unified global map, and coordinates high-level missions without replacing each vendor's low-level controller or optimization algorithm.

• Technical problem: warehouse and factory operators face islands of automation when Hikrobot, Geek+, Quicktron, or other AGV fleets cannot share maps, traffic state, or task plans.
• Core contribution: a modular middleware architecture with vendor connectors, a global dispatcher, global scheduler/controller, map synchronization layer, and unified shop-floor model.
• Map-fusion method: aligns sparse key points such as charging docks, intersections, gates, or pallet bays through rigid transform optimization, outlier filtering, and pairwise alignment into a master coordinate frame.
• Operational value: coordinates trajectories through time-gap constraints, arbitration logic, live-map updates, and conflict resolution while preserving native vendor motion planning.