相关论文: Low Cost Bin Picking Solution for E-Commerce Wareh…

Transferring multiple objects between bins is a common task for many applications. In robotics, a standard approach is to pick up one object and transfer it at a time. However, grasping and picking up multiple objects and transferring them…

Point pair features are a popular representation for free form 3D object detection and pose estimation. In this paper, their performance in an industrial random bin picking context is investigated. A new method to generate representative…

Prehensile object rearrangement in cluttered and confined spaces has broad applications but is also challenging. For instance, rearranging products in a grocery shelf means that the robot cannot directly access all objects and has limited…

In this paper we investigate the problem of simultaneously allocating orders and mobile storage racks to static pickers. Here storage racks are allocated to pickers to enable them to pick all of the products for the orders that have been…

In this work, we study the square min-sum bin packing problem (SMSBPP), where a list of square items has to be packed into indexed square bins of dimensions $1 \times 1$ with no overlap between the areas of the items. The bins are indexed…

Although every individual invented storage technology made a big step towards perfection, none of them is spotless. Different data store essentials such as performance, availability, and recovery requirements have not met together in a…

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…

This paper proposes a novel method for randomized bin-picking based on learning. When a two-fingered gripper tries to pick an object from the pile, a finger often contacts a neighboring object. Even if a finger contacts a neighboring…

The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…

In a robotic mobile fulfillment system, robots bring shelves, called pods, with storage items from the storage area to pick stations. At every pick station there is a person -- the picker -- who takes parts from the pod and packs them into…

In robotics, methods and softwares usually require optimizations of hyperparameters in order to be efficient for specific tasks, for instance industrial bin-picking from homogeneous heaps of different objects. We present a developmental…

We analyze a recently introduced concept, called the price of clustering, for variants of bin packing called open-end bin packing problems (OEBP). Input items have sizes, and they also belong to a certain number of types. The new concept…

Box folding represents a crucial challenge for automated packaging systems. This work bridges the gap between existing methods for folding sequence extraction and approaches focused on the adaptability of automated systems to specific box…

Industrial robotic object handling often involves boxes and packages whose mass and center of mass are not known in advance. These uncertainties affect the force--moment balance required for stable lifting, and improper regulation of…

Municipal Solid Waste systems have important economic, social, and environmental impacts for society. Within the diverse stages of the Municipal Solid Waste reverse logistic chain, the waste bin location problem consists in properly…

The Online Bin Packing Problem (OBPP) is a sequential decision-making task in which each item must be placed immediately upon arrival, with no knowledge of future arrivals. Although recent deep-reinforcement-learning methods achieve…

The fast demographic growth, together with the concentration of the population in cities and the increasing amount of daily waste, are factors that push to the limit the ability of waste assimilation by Nature. Therefore, we need…

Motivated by distribution problems arising in the supply chain of Haleon, we investigate a discrete optimization problem that we call the "container delivery scheduling problem". The problem models a supplier dispatching ordered products…

Robotic manipulation and grasping in cluttered and unstructured environments is a current challenge for robotics. Enabling robots to operate in these challenging environments have direct applications from automating warehouses to harvesting…

Robot learning of real-world manipulation tasks remains challenging and time consuming, even though actions are often simplified by single-step manipulation primitives. In order to compensate the removed time dependency, we additionally…