Conference Paper

# On the design of the ROBO-PARTNER Intra-factory logistics autonomous robot

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## Abstract

The trends of manufacturing have now begun to call for a more adaptive and dynamic shop floor in the automation industry. The advancements in mobile robotics of recent decades have inspired and cemented a belief that multiple autonomous mobile robotic agents, often cooperatively sharing the workspace with humans, will significantly contribute to a truly flexible shop floor of the future. This article reports on the design specifications for one such robotic agent, the Intra-factory Mobile Assistant Unit (IMAU), able to carry material boxes between supermarkets and assembly stations, dynamically avoiding obstacles , throughout the shop floor. The solution will make shop floor logistics more flexible, reduce the allocated space for buffers, and, also, ease the human workload. The article will cover the sensing, actuation, communication, software architecture, and the seamless integration into the plant's execution system, which shape the autonomous logistics robot to be deployed into a working automotive shop floor during the ROBO-PARTNER project.

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... Mobile self-navigating robotic technology has successfully been applied to various domains, including logistics [1], housekeeping [2], agriculture [3], exploration [4], customer service [5], maintenance in hazardous environments [6] and delivery of goods [7]. Due to their high level of autonomy-often combined with versatile interfaces to the environment-robotic systems seem highly promising for the health-care domain, especially when dealing with pressing social problems like overaging and shortage of qualified personnel. ...
... There is great potential for easing staff workload and B Lukas Bernhard lukas.bernhard@tum.de 1 Research Group MITI, Klinikum rechts der Isar der Technischen Universität München, Munich, Germany 2 Department of Surgery, Klinikum rechts der Isar der Technischen Universität München, Munich, Germany improving overall efficiency by reducing monotonous and physically demanding tasks. ...
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... The implementation of robots in the warehousing context has been a topic of discussion for its possibilities to increase efficiency and reduce repetitive tasks for humans (Raji et al., 2021). To this end, Lourenco et al. (2017) prototyped an autonomous mobile robot that can handle transportation from manufacturing supermarkets to assembly stations while avoiding obstacles, as it is intended to operate in a dynamic environment together with other autonomous robots and human operators. The approach of adding autonomous features to existing technologies is also in line with the maturity model proposed by related to Logistics 4.0 in internal processes. ...
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A new trend in automation is to deploy so-called cyber-physical systems (CPS) which combine computation with physical pro-cesses. The novel RoboCup Logistics League Sponsored by Festo (LLSF) aims at a such CPS logistic scenarios in an automation setting. A team of robots has to produce products from a number of semi-finished products which they have to machine during the game. Different production plans are possible and the robots need to recycle scrap byproducts. This way, the LLSF is a very interesting league offering a number of challenging research questions for planning, coordination, or communication in an application-driven scenario. In this paper, we outline the objectives of the LLSF and present steps for developing the league further towards a benchmark for logistics scenarios for CPS. As a major milestone we present the new automated referee system which helps in governing the game play as well as keeping track of the scored points in a very complex factory scenario.
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Chapter
Obstacles in the workspace W map in the configuration space C to regions called C-obstacles. In Chapter 2 we defined the C-obstacle CB corresponding to a workspace obstacle B as the following region in C:$$CB = \{ q \in C/A(q) \cap B \ne 0\}$$.
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Book
1 Introduction and Overview.- 2 Configuration Space of a Rigid Object.- 3 Obstacles in Configuration Space.- 4 Roadmap Methods.- 5 Exact Cell Decomposition.- 6 Approximate Cell Decomposition.- 7 Potential Field Methods.- 8 Multiple Moving Objects.- 9 Kinematic Constraints.- 10 Dealing with Uncertainty.- 11 Movable Objects.- Prospects.- Appendix A Basic Mathematics.- Appendix B Computational Complexity.- Appendix C Graph Searching.- Appendix D Sweep-Line Algorithm.- References.
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Simulators have played a critical role in robotics research as tools for quick and efficient testing of new concepts, strategies, and algorithms. To date, most simulators have been restricted to 2D worlds, and few have matured to the point where they are both highly capable and easily adaptable. Gazebo is designed to fill this niche by creating a 3D dynamic multi-robot environment capable of recreating the complex worlds that would be encountered by the next generation of mobile robots. Its open source status, fine grained control, and high fidelity place Gazebo in a unique position to become more than just a stepping stone between the drawing board and real hardware: data visualization, simulation of remote environments, and even reverse engineering of blackbox systems are all possible applications. Gazebo is developed in cooperation with the Player and Stage projects (Gerkey, B. P., et al., July 2003), (Gerkey, B. P., et al., May 2001), (Vaughan, R. T., et al., Oct. 2003), and is available from http://playerstage.sourceforge.net/gazebo/ gazebo.html.
A definition approach to smart logistics," in Next Generation Teletraffic and Wired/Wireless Advanced Networking
• D Uckelmann
D. Uckelmann, "A definition approach to smart logistics," in Next Generation Teletraffic and Wired/Wireless Advanced Networking. Springer, 2008, pp. 273-284.
Integration and assessment of multiple mobile manipulators in a real-world industrial production facility
• S Bogh
• C Schou
• T Rühr
• Y Kogan
• A Dömel
• M Brucker
• C Eberst
• R Tornese
• C Sprunk
• G D Tipaldi
S. Bogh, C. Schou, T. Rühr, Y. Kogan, A. Dömel, M. Brucker, C. Eberst, R. Tornese, C. Sprunk, G. D. Tipaldi et al., "Integration and assessment of multiple mobile manipulators in a real-world industrial production facility," in ISR/Robotik 2014; 41st International Symposium on Robotics; Proceedings of. VDE, 2014, pp. 1-8.