The PAN-Robots Project: Advanced Automated Guided Vehicle Systems for Industrial Logistics

Sabattini, Lorenzo; Aikio, Mauri; Beinschob, Patric; Boehning, Markus; Cardarelli, Elena; Digani, Valerio; Krengel, Annette; Magnani, Massimiliano; Mandici, Szilard; Oleari, Fabio; Reinke, Christoph; Ronzoni, Davide; Stimming, Christian; Robert, Valentine; Vatavu, Andrei; Lopez, Sergi Castells; Fantuzzi, Cesare; Mäyrä, Aki; Nedevschi, Sergiu; Secchi, Cristian; Fuerstenberg, Kay

doi:10.1109/mra.2017.2700325

Cited by 56 publications

(25 citation statements)

References 26 publications

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“…In [197], an AGV-based vision system was used with support vector machine (SVM) and principal component analysis (PCA) to detect nearby AGVs so as to prevent collision. In [198], researchers working on the European PAN-Robots project presented a system level overview of the main technologies developed during the project. Of importance is the development of an advanced sensing system that AGVs can use to classify objects and humans in dynamic FoF environments.…”

Section: Vision and Image Processing Hardware And Algorithms For Agv Control Applicationsmentioning

confidence: 99%

A Review of Recent Advances in Automated Guided Vehicle Technologies: Integration Challenges and Research Areas for 5G-Based Smart Manufacturing Applications

et al. 2020

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In industrial environments, over several decades, Automated Guided Vehicles (AGVs) and Autonomous Mobile Robots (AMRs) have served to improve efficiencies of intralogistics and material handling tasks. However, for system integrators, the choice and effective deployment of improved, suitable and reliable communication and control technologies for these unmanned vehicles remains a very challenging task. Specifics of communication for AGVs and AMRs imposes stringent performance requirements on latency and reliability of communication links which many existing wireless technologies struggle to satisfy. In this paper, a review of latest AGVs and AMRs research results in the past decade is presented. The review encompasses results from different past and present research domains of AGVs. In addition, performance requirements of communication networks in terms of their latencies and reliabilities when they are deployed for AGVs and AMRs coordination, control and fleet management in smart manufacturing environments are discussed. Integration challenges and limitations of present state-of-the-art AGV and AMR technologies when those technologies are used for facilitating AGV-based smart manufacturing and factory of the future applications are also thoroughly discussed. The paper also present a thorough discussion of areas in need of further research regarding the application of 5G networks for AGVs and AMRs fleet management in smart manufacturing environments. In addition, novel integration ideas by which tactile Internet, 5G network slicing and virtual reality applications can be used to facilitate AGV and AMR based factory of the future (FoF) and smart manufacturing applications were motivated.INDEX TERMS Intelligent factory, factory of the future, 5G, smart manufacturing, industry 4.0, autonomous industrial equipment, AGV, AMR, tactile Internet, virtual reality, lean manufacturing.

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Section: Vision and Image Processing Hardware And Algorithms For Agv Control Applicationsmentioning

confidence: 99%

A Review of Recent Advances in Automated Guided Vehicle Technologies: Integration Challenges and Research Areas for 5G-Based Smart Manufacturing Applications

et al. 2020

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“…In particular, the implementation of a robotic system able to assist human workers in their tasks requires the capability to effectively plan and optimize the sequence of actions [2][3][4], to correctly localize persons and objects [5] and to interact with the environment and other systems in the network [6]. Since the advent of Industry 4.0, the requirements of optimizing the transport and distribution of products has encouraged the use of autonomous guided vehicles within modern automated warehouses [7]. Moreover, autonomous mobile robots have been introduced to improve flexibility and robustness in modern industrial contexts [8].…”

Section: Related Workmentioning

confidence: 99%

Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception

et al. 2021

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This paper presents a mobile manipulation platform designed for autonomous depalletizing tasks. The proposed solution integrates machine vision, control and mechanical components to increase flexibility and ease of deployment in industrial environments such as warehouses. A collaborative robot mounted on a mobile base is proposed, equipped with a simple manipulation tool and a 3D in-hand vision system that detects parcel boxes on a pallet, and that pulls them one by one on the mobile base for transportation. The robot setup allows to avoid the cumbersome implementation of pick-and-place operations, since it does not require lifting the boxes. The 3D vision system is used to provide an initial estimation of the pose of the boxes on the top layer of the pallet, and to accurately detect the separation between the boxes for manipulation. Force measurement provided by the robot together with admittance control are exploited to verify the correct execution of the manipulation task. The proposed system was implemented and tested in a simplified laboratory scenario and the results of experimental trials are reported.

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“…In [52], the Plug and Navigate (PAN) Robots project is presented, which aims at providing an advanced logistic system involving smart AGVs. These AGVs are able to compute their motion autonomously along a set of virtual paths, called a roadmap, pre-computed using a semi-automated map creation process [53].…”

Section: Amrs As Meta-sensorsmentioning

confidence: 99%

Smart Sensors Applications for a New Paradigm of a Production Line

Indri

Lachello

Lazzero

et al. 2019

Sensors

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Industrial plants are going to face a deep renewing process within the Industry 4.0 scenario. New paradigms of production lines are foreseen in the very near future, characterized by a strict collaboration between humans and robots and by a high degree of flexibility. Such envisaged improvements will require the smart use of proper sensors at very different levels. This paper investigates three different aspects of this industrial renewing process, based on three different ways of exploiting sensors, toward a new paradigm of a production line. The provided contributions, offering various types of innovation and integration, are relative to: (i) a virtual sensor approach for manual guidance, increasing the potentialities of a standard industrial manipulator, (ii) a smart manufacturing solution to assist the operator’s activity in manual assembly stations, through an original exploitation of multiple sensors, and (iii) the development of an advanced robotic architecture for a flexible production line, in which a team of autonomous mobile robots acts as a meta-sensor net supporting traditional automated guided vehicles. Accurate analyses of existing state-of-the-art solutions compared with the proposed ones are offered for the considered issues.

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The PAN-Robots Project: Advanced Automated Guided Vehicle Systems for Industrial Logistics

Cited by 56 publications

References 26 publications

A Review of Recent Advances in Automated Guided Vehicle Technologies: Integration Challenges and Research Areas for 5G-Based Smart Manufacturing Applications

A Review of Recent Advances in Automated Guided Vehicle Technologies: Integration Challenges and Research Areas for 5G-Based Smart Manufacturing Applications

Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception

Smart Sensors Applications for a New Paradigm of a Production Line

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