Nice to see PLCs called out here— they're ground zero for traditional factory automation, and are typically the easy route to anything that needs to be low volume and programmable while also being capital-s Safe.

But anything smarter than a tape-following AGV also has a computer on it running a bunch of high level perception and control software, so there's a natural friction point there, particularly if the PLC can only be flashed from proprietary Windows-based software.