7,735 research outputs found
Multirobot heterogeneous control considering secondary objectives
Cooperative robotics has considered tasks that are executed frequently, maintaining the
shape and orientation of robotic systems when they fulfill a common objective, without taking
advantage of the redundancy that the robotic group could present. This paper presents a proposal
for controlling a group of terrestrial robots with heterogeneous characteristics, considering primary
and secondary tasks thus that the group complies with the following of a path while modifying its
shape and orientation at any time. The development of the proposal is achieved through the use
of controllers based on linear algebra, propounding a low computational cost and high scalability
algorithm. Likewise, the stability of the controller is analyzed to know the required features that have
to be met by the control constants, that is, the correct values. Finally, experimental results are shown
with di erent configurations and heterogeneous robots, where the graphics corroborate the expected
operation of the proposalThis research was funded by Corporación Ecuatoriana para el Desarrollo de la Investigación
y Academia–CEDI
Active repositioning of storage units in Robotic Mobile Fulfillment Systems
In our work we focus on Robotic Mobile Fulfillment Systems in e-commerce
distribution centers. These systems were designed to increase pick rates by
employing mobile robots bringing movable storage units (so-called pods) to pick
and replenishment stations as needed, and back to the storage area afterwards.
One advantage of this approach is that repositioning of inventory can be done
continuously, even during pick and replenishment operations. This is primarily
accomplished by bringing a pod to a storage location different than the one it
was fetched from, a process we call passive pod repositioning. Additionally,
this can be done by explicitly bringing a pod from one storage location to
another, a process we call active pod repositioning. In this work we introduce
first mechanisms for the latter technique and conduct a simulation-based
experiment to give first insights of their effect
Analysis and Observations from the First Amazon Picking Challenge
This paper presents a overview of the inaugural Amazon Picking Challenge
along with a summary of a survey conducted among the 26 participating teams.
The challenge goal was to design an autonomous robot to pick items from a
warehouse shelf. This task is currently performed by human workers, and there
is hope that robots can someday help increase efficiency and throughput while
lowering cost. We report on a 28-question survey posed to the teams to learn
about each team's background, mechanism design, perception apparatus, planning
and control approach. We identify trends in this data, correlate it with each
team's success in the competition, and discuss observations and lessons learned
based on survey results and the authors' personal experiences during the
challenge
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