i-Fork: a flexible AGV system using topological and grid maps

Barberá, Humberto Martínez; Quiñonero, J. P. Canovas; Izquierdo, Miguel Angel Zamora; Skármeta, Antonio

doi:10.1109/robot.2003.1241911

Cited by 21 publications

(14 citation statements)

References 6 publications

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“…Previous work on warehouse automation mainly focuses on autonomous transport, e.g., delivering the packages by using Automated Guided Vehicles (AGV) [6] [7]. Beyond that, in [8], it describes an autonomous robot for indoor 1 Now it is renamed as Amazon Robotics.…”

Section: Related Workmentioning

confidence: 99%

DoraPicker: An autonomous picking system for general objects

Zhang¹,

Long

Zhou³

et al. 2016

2016 IEEE International Conference on Automation Science and Engineering (CASE)

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Robots that autonomously manipulate objects within warehouses have the potential to shorten the package delivery time and improve the efficiency of the e-commerce industry. In this paper, we present a robotic system that is capable of both picking and placing general objects in warehouse scenarios. Given a target object, the robot autonomously detects it from a shelf or a table and estimates its full 6D pose. With this pose information, the robot picks the object using its gripper, and then places it into a container or at a specified location. We describe our pick-and-place system in detail while highlighting our design principles for the warehouse settings, including the perception method that leverages knowledge about its workspace, three grippers designed to handle a large variety of different objects in terms of shape, weight and material, and grasp planning in cluttered scenarios. We also present extensive experiments to evaluate the performance of our picking system and demonstrate that the robot is competent to accomplish various tasks in warehouse settings, such as picking a target item from a tight space, grasping different objects from the shelf, and performing pick-and-place tasks on the table.

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Section: Related Workmentioning

confidence: 99%

DoraPicker: An autonomous picking system for general objects

Zhang¹,

Long

Zhou³

et al. 2016

2016 IEEE International Conference on Automation Science and Engineering (CASE)

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“…Although some of the previous drawbacks have been resolved in the past few years by using a new generation of free ranging AGVs, some of the limitations have not been solved, such as limited flexibility, unsuitability for special environments and particular applications and, above all, the lack of intelligence in their control software. For example, Barbera et al [1] described navigation and planning of a flexible AGV for the warehouse of an agricultural company, whose layout is frequently modified. Similarly, in [2] Robolift is described, i.e.…”

Section: Technologies In Robotic Logisticsmentioning

confidence: 99%

Introducing service robotics to the pharmaceutical industry

Fiorini

Botturi

2008

Intel Serv Robotics

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In this paper, we present the development of a prototype of service robot for the pharmaceutical industry. First, the paper describes the analysis of functional and economical justifications of a service robot in this manufacturing segment. The warehouse of the Parma (Italy) GSK plant was identified as suitable, and goods transportation as the highest impact application. Then, the paper describes some of the key technologies of mobile manipulation proposed for this service robot. We summarize the functional aspects of the system, and its main control elements. The project produced a feasibility proof of safe and efficient goods transportation in a partially structured, dynamic and public environment, with minimal impact on the manufacturing plant. We conclude the paper by summarizing the validation steps needed to make these technologies accepted by the pharmaceutical industry.

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“…The most recent years have shown a growing presence of robots and automated systems in the logistic field [1], [2], [7], [17], [19], [20], and [28]. Interesting examples are given by the system for automated movement of shipping containers implemented in the Port of Brisbane (Australia), constituted by 18 autonomous straddle carriers (AutoStrad) [17], System [1], which can represent a more flexible, alternative solution for material handling than the classical Automated Storage and Retrieval Systems (ASRS).…”

Section: Introductionmentioning

confidence: 99%

“…[7]), on the other hand enhancing its autonomy from the structural (or ad hoc created) characteristics of the environment. The use of a multi-robot cooperative system, composed of autonomous mobile robots, not requiring the presence of predefined landmarks or signed paths, seems to be the solution for more efficient applications in the logistic field.…”

Section: Introductionmentioning

confidence: 99%

Cooperative robotic teams for supervision and management of large logistic spaces: Methodology and applications

Abrate

Bona

Indri

et al. 2010

2010 IEEE 15th Conference on Emerging Technologies &Amp; Factory Automation (ETFA 2010)

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Robots and automated systems can be employed in the logistic field to efficiently perform common tasks like building and updating maps of indoor and outdoor logistic spaces, locating specific goods on the map, tracing the product flow in the area, while assuring the surveillance of the environment. This paper reports and discusses the already achieved results of the on-going research project MACP4Log (Mobile Autonomous and Cooperating robotic Platforms for supervision and monitoring of large LOGistic surfaces), aimed at the study and development of a prototype of a mobile robotic platform, with on-board vision systems and sensors, integrating a flexible wireless communication solution, able to move autonomously in large logistic spaces, and to communicate with a supervisor and other similar platforms in order to achieve a coordinated action to carry out specific tasks.

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i-Fork: a flexible AGV system using topological and grid maps

Cited by 21 publications

References 6 publications

DoraPicker: An autonomous picking system for general objects

DoraPicker: An autonomous picking system for general objects

Introducing service robotics to the pharmaceutical industry

Cooperative robotic teams for supervision and management of large logistic spaces: Methodology and applications

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