## 2 MES and AIVs  
History of MES use starts in the 1970s when the manufacturing industry started using software applications. Initially, these applications were used to provide basic inventory management. After some time, the manufacturing industry realized the need for software for the effective management of processes involved in manufacturing. In the early 1980s, more advanced software applications came with the introduction of MRP (Manufacturing Resource Planning). The MRP mainly improved the resource/material management but this was not suitable for the real-time control and management of the shop floor operations. Therefore, the industries started looking towards Enterprise Resource Planning (ERP) applications that were intended to integrate the shop floor functions for better forecasting, planning, purchase, costing, accounting, and inventory management functionalities. However, still there was a need for the data collection software to facilitate real-time controlling/management. During the 1980s, many applications were designed for operations, such as scheduling, data collection, and maintenance. In the early 1990s, these applications were transformed into what we now know as the MES. Initial models of the MES were developed as on-site applications and represented the manufacturing process as-is. These systems were rigid, and it was very difficult to implement changes, as for changes many efforts were needed in terms of coding. In the middle of the 2000s, there was a transition of MES from rigid systems to highly flexible and off-site web-based applications. As a result, MESs became more flexible, modular and off-site web-based applications became popular. These applications could be used from anywhere in the world for any plant through the use of an internet connection. The modern MES applications handle real-time data from every aspect of the manufacturing process. With the advent of Industry 4.0 the MES will play an integral role. The MES will be the central information and data hub for production and all areas involved throughout the industry. Industry 4.0 also aims to improve productivity by fulfilling the growing customer demands for a faster real-time response via decentralized production control. These expectations can be fulfilled by the MES to improve performance, quality, and agility for globalized manufacturing businesses. For smart manufacturing, the MES is one of the essential enablers, a stepping stone on the path to facilitate Industry 4.0 that all manufacturers must introduce to succeed in today's marketplace. Here, the SAP MES [32] is used, and it is accessed using LabVIEW software through webservices. MES integration with an AIV is an important element to develop a smart manufacturing environment. For example, in a smart factory, if a product has been passed from all processing steps and MES shows that this product is ready to pick, then an AIV can be directed to pick the product based on the MES data and drop it at a specified location. The drop-off location can be determined based on the information receiving from MES. However, all this is possible only when there will be a communication link between the MES and the AIV. The term AIV refers to robotic vehicles that can navigate without human intervention [33]. Today, a modern manufacturing business can hardly imagine working without the involvement of AIVs. The integration of AIVs with smart technologies allows the creation of more independent robotic systems. These systems are not only able to carry out basic repetitive operations, such as assembling, loading, or modifying parts, but can also perform cognitive tasks, improve processes without human intervention and take instant decisions. AIV technology is growing in the manufacturing industry and can advance automotive manufacturing by complementing the flexibility of material handling in the production line. Here, the focus is on AIVs built using ROS [34; 35; 36] that provide basic level control but do not provide advanced features like fleet management and integration with MES.