An End-to-End Robot System for Warehouse Applications Using Controller Synthesis

Autores
Tapia, Benjamín; Delmastro, Juan; Zudaire, Sebastián
Año de publicación
2021
Idioma
inglés
Tipo de recurso
documento de conferencia
Estado
versión publicada
Descripción
Controller synthesis has been used in recent research to generate, from user specifications, correctby-construction motion and task plans for mobile robots. These plans are implemented by hybrid control architectures allowing the robot to move and interact with complex environments. However, the different abstraction levels involved together with the many components that must be developed for a fully functional end-to-end system requires numerous design and methodology decisions, specially when the robot strongly interacts with its environment. In this paper, we present an end-to-end system design and implementation for a mobile robot targeted at warehouse applications, that uses a proof-of- concept approach in a simulated environment as a key step in the design process. We demonstrate its capabilities in product rearrangement both in simulated and real world scenarios.
Sociedad Argentina de Informática e Investigación Operativa
Materia
Ciencias Informáticas
Discrete events
Hybrid control
Warehouse applications
Nivel de accesibilidad
acceso abierto
Condiciones de uso
http://creativecommons.org/licenses/by-nc-sa/4.0/
Repositorio
SEDICI (UNLP)
Institución
Universidad Nacional de La Plata
OAI Identificador
oai:sedici.unlp.edu.ar:10915/140249
Acceder
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oai_identifier_str oai:sedici.unlp.edu.ar:10915/140249
network_acronym_str SEDICI
repository_id_str 1329
network_name_str SEDICI (UNLP)
spelling An End-to-End Robot System for Warehouse Applications Using Controller SynthesisTapia, BenjamínDelmastro, JuanZudaire, SebastiánCiencias InformáticasDiscrete eventsHybrid controlWarehouse applicationsController synthesis has been used in recent research to generate, from user specifications, correctby-construction motion and task plans for mobile robots. These plans are implemented by hybrid control architectures allowing the robot to move and interact with complex environments. However, the different abstraction levels involved together with the many components that must be developed for a fully functional end-to-end system requires numerous design and methodology decisions, specially when the robot strongly interacts with its environment. In this paper, we present an end-to-end system design and implementation for a mobile robot targeted at warehouse applications, that uses a proof-of- concept approach in a simulated environment as a key step in the design process. We demonstrate its capabilities in product rearrangement both in simulated and real world scenarios.Sociedad Argentina de Informática e Investigación Operativa2021-10info:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/publishedVersionObjeto de conferenciahttp://purl.org/coar/resource_type/c_5794info:ar-repo/semantics/documentoDeConferenciaapplication/pdf103-116http://sedici.unlp.edu.ar/handle/10915/140249enginfo:eu-repo/semantics/altIdentifier/issn/2451-7585info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by-nc-sa/4.0/Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)reponame:SEDICI (UNLP)instname:Universidad Nacional de La Platainstacron:UNLP2026-01-07T13:19:40Zoai:sedici.unlp.edu.ar:10915/140249Institucionalhttp://sedici.unlp.edu.ar/Universidad públicaNo correspondehttp://sedici.unlp.edu.ar/oai/snrdalira@sedici.unlp.edu.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:13292026-01-07 13:19:40.41SEDICI (UNLP) - Universidad Nacional de La Platafalse
dc.title.none.fl_str_mv An End-to-End Robot System for Warehouse Applications Using Controller Synthesis
title An End-to-End Robot System for Warehouse Applications Using Controller Synthesis
spellingShingle An End-to-End Robot System for Warehouse Applications Using Controller Synthesis
Tapia, Benjamín
Ciencias Informáticas
Discrete events
Hybrid control
Warehouse applications
title_short An End-to-End Robot System for Warehouse Applications Using Controller Synthesis
title_full An End-to-End Robot System for Warehouse Applications Using Controller Synthesis
title_fullStr An End-to-End Robot System for Warehouse Applications Using Controller Synthesis
title_full_unstemmed An End-to-End Robot System for Warehouse Applications Using Controller Synthesis
title_sort An End-to-End Robot System for Warehouse Applications Using Controller Synthesis
dc.creator.none.fl_str_mv Tapia, Benjamín
Delmastro, Juan
Zudaire, Sebastián
author Tapia, Benjamín
author_facet Tapia, Benjamín
Delmastro, Juan
Zudaire, Sebastián
author_role author
author2 Delmastro, Juan
Zudaire, Sebastián
author2_role author
author
dc.subject.none.fl_str_mv Ciencias Informáticas
Discrete events
Hybrid control
Warehouse applications
topic Ciencias Informáticas
Discrete events
Hybrid control
Warehouse applications
dc.description.none.fl_txt_mv Controller synthesis has been used in recent research to generate, from user specifications, correctby-construction motion and task plans for mobile robots. These plans are implemented by hybrid control architectures allowing the robot to move and interact with complex environments. However, the different abstraction levels involved together with the many components that must be developed for a fully functional end-to-end system requires numerous design and methodology decisions, specially when the robot strongly interacts with its environment. In this paper, we present an end-to-end system design and implementation for a mobile robot targeted at warehouse applications, that uses a proof-of- concept approach in a simulated environment as a key step in the design process. We demonstrate its capabilities in product rearrangement both in simulated and real world scenarios.
Sociedad Argentina de Informática e Investigación Operativa
description Controller synthesis has been used in recent research to generate, from user specifications, correctby-construction motion and task plans for mobile robots. These plans are implemented by hybrid control architectures allowing the robot to move and interact with complex environments. However, the different abstraction levels involved together with the many components that must be developed for a fully functional end-to-end system requires numerous design and methodology decisions, specially when the robot strongly interacts with its environment. In this paper, we present an end-to-end system design and implementation for a mobile robot targeted at warehouse applications, that uses a proof-of- concept approach in a simulated environment as a key step in the design process. We demonstrate its capabilities in product rearrangement both in simulated and real world scenarios.
publishDate 2021
dc.date.none.fl_str_mv 2021-10
dc.type.none.fl_str_mv info:eu-repo/semantics/conferenceObject
info:eu-repo/semantics/publishedVersion
Objeto de conferencia
http://purl.org/coar/resource_type/c_5794
info:ar-repo/semantics/documentoDeConferencia
format conferenceObject
status_str publishedVersion
dc.identifier.none.fl_str_mv http://sedici.unlp.edu.ar/handle/10915/140249
url http://sedici.unlp.edu.ar/handle/10915/140249
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/issn/2451-7585
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by-nc-sa/4.0/
Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)
eu_rights_str_mv openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by-nc-sa/4.0/
Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)
dc.format.none.fl_str_mv application/pdf
103-116
dc.source.none.fl_str_mv reponame:SEDICI (UNLP)
instname:Universidad Nacional de La Plata
instacron:UNLP
reponame_str SEDICI (UNLP)
collection SEDICI (UNLP)
instname_str Universidad Nacional de La Plata
instacron_str UNLP
institution UNLP
repository.name.fl_str_mv SEDICI (UNLP) - Universidad Nacional de La Plata
repository.mail.fl_str_mv alira@sedici.unlp.edu.ar
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