Related papers: RAWSim-O: A Simulation Framework for Robotic Mobil…
In this paper, we provide details of a robotic system that can automate the task of picking and stowing objects from and to a rack in an e-commerce fulfillment warehouse. The system primarily comprises of four main modules: (1) Perception…
Multi-robot systems in automated warehouses must manage continuous streams of pickup-and-delivery tasks while ensuring efficiency and safety. Prior work on Multi-Agent Pickup-and-Delivery (MAPD) has largely focused on the one-to-one…
This paper develops a predictive modeling algorithm, denoted as Real-Time Vector Fitting (RTVF), which is capable of approximating the real-time linearized dynamics of multi-input multi-output (MIMO) dynamical systems via rational transfer…
Parcel sorting operations in logistics enterprises aim to achieve a high throughput of parcels through sorting centers. These sorting centers are composed of large circular conveyor belts on which incoming parcels are placed, with multiple…
Autonomous mobile robots can rely on several human motion detection and prediction systems for safe and efficient navigation in human environments, but the underline model architectures can have different impacts on the trustworthiness of…
Robotic systems are more connected, networked, and distributed than ever. New architectures that comply with the \textit{de facto} robotics middleware standard, ROS\,2, have recently emerged to fill the gap in terms of hybrid systems…
Robotic systems are becoming pervasive and adopted in increasingly many domains, such as manufacturing, healthcare, and space exploration. To this end, engineering software has emerged as a crucial discipline for building maintainable and…
Warehouse Management Systems have been evolving and improving thanks to new Data Intelligence techniques. However, many current optimizations have been applied to specific cases or are in great need of manual interaction. Here is where…
On-demand ride services or ride-sourcing services have been experiencing fast development in the past decade. Various mathematical models and optimization algorithms have been developed to help ride-sourcing platforms design operational…
Hybrid physics-machine learning models are increasingly being used in simulations of transport processes. Many complex multiphysics systems relevant to scientific and engineering applications include multiple spatiotemporal scales and…
Efficiently solving path planning problems for a large number of robots is critical to the successful operation of modern warehouses. The existing approaches adopt classical shortest path algorithms to plan in environments whose cells are…
Dense packing in pick-and-place systems is an important feature in many warehouse and logistics applications. Prior work in this space has largely focused on planning algorithms in simulation, but real-world packing performance is often…
With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring…
Autonomous robots need to plan the tasks they carry out to fulfill their missions. The missions' increasing complexity does not let human designers anticipate all the possible situations, so traditional control systems based on state…
This paper develops a framework that models and optimizes the operations of complex on-orbit servicing infrastructures involving one or more servicers and orbital depots to provide multiple types of services to a fleet of geostationary…
Simulators are a critical component of modern robotics research. Strategies for both perception and decision making can be studied in simulation first before deployed to real world systems, saving on time and costs. Despite significant…
Resource sharing is a crucial part of a multi-robot system. We propose a Boolean satisfiability based approach to resource sharing. Our key contributions are an algorithm for converting any constrained assignment to a weighted-SAT based…
Transit network simulation models are often used for performance and retrospective analysis of urban rail systems, taking advantage of the availability of extensive automated fare collection (AFC) and automated vehicle location (AVL) data.…
Soft robots offer remarkable adaptability and safety advantages over rigid robots, but modeling their complex, nonlinear dynamics remains challenging. Strain-based models have recently emerged as a promising candidate to describe such…
We consider the problem of warehouse multi-robot automation system in discrete-time and discrete-space configuration with focus on the task allocation and conflict-free path planning. We present a system design where a centralized server…