When designing plans in engineering, it is often necessary to consider attributes associated to objects, e.g. the location of a robot. Our aim in this paper is to incorporate attributes into existing categorical formalisms for planning, namely those based on symmetric monoidal categories and string diagrams. To accomplish this, we define a notion of a "symmetric monoidal category with attributes." This is a symmetric monoidal category in which objects are equipped with retrievable information and where the interactions between objects and information are governed by an "attribute structure." We discuss examples and semantics of such categories in the context of robotics to illustrate our definition.

翻译：在设计工程计划时,通常有必要考虑与物体相关的属性,例如机器人的位置。我们本文件的目的是将属性纳入现有的绝对规划形式,即基于对称单项和字符串图的属性。要做到这一点,我们定义了一个“带有属性的对称单项类别”的概念。这是一个对称单项类别,在这种类别中,物体拥有可检索的信息,物体与信息之间的相互作用受“属性结构”的制约。我们讨论机器人中此类类别的例子和语义,以说明我们的定义。