Planning in logistics: a survey

© 2010 ACMPermission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. To copy otherwise, to republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee.Presented at PerMIS’10 September 28-30, 2010, Baltimore, MD, USA.Planning is an essential part of any logistics system. The paper tries to generalize the view of a logistics planner by framing it as a knapsack problem. We show how the various variants of the knapsack problem compare for different types of industries. We also introduce the pallet stacking problem and survey some of the recent advances made towards this problem

Dynamic Pushing Strategies for Dynamically Stable Mobile Manipulators

© 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.This paper presents three effective manipulation strategies for wheeled, dynamically balancing robots with articulated links. By comparing these strategies through analysis, simulation and robot experiments, we show that contact placement and body posture have a significant impact on the robot's ability to accelerate and displace environment objects. Given object geometry and friction parameters we determine the most effective methods for utilizing wheel torque to perform non-prehensile manipulation