Abstract
This paper proposes a logistic planner with supplementary 3D spatial representations to enhance and interact with traditional logistic systems on the context of mobile manipulators performing internal logistics operations. By defining a hierarchical structure, the logistic world model, as the central entity synchronized between multiple system components, the reliability and accuracy of the logistic system is strengthened. The proposed approach aims at implementing a robust and intuitive solution for the set-up of mobile manipulator based logistic systems. The logistic planner includes a web based interface for fast setup of the warehouse layout based on robot sensing, as well as the definition of missions for the fleet of robotic systems.
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Acknowledgements
This work is financed by the ERDF European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation - COMPETE 2020 Programme, and by National Funds through the Portuguese funding agency, FCT - Fundao para a Cincia e a Tecnologia, within project SAICTPAC/0034/2015- POCI-01-0145-FEDER-016418. Project “TEC4Growth - Pervasive Intelligence, Enhancers and Proofs of Concept with Industrial Impact/NORTE-01-0145-FEDER-000020” is financed by the North Portugal Regional Operational Programme (NORTE 2020), under the PORTUGAL 2020 Partnership Agreement, and through the European Regional Development Fund (ERDF).
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Toscano, C., Arrais, R., Veiga, G. (2018). Enhancement of Industrial Logistic Systems with Semantic 3D Representations for Mobile Manipulators. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 694. Springer, Cham. https://doi.org/10.1007/978-3-319-70836-2_51
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DOI: https://doi.org/10.1007/978-3-319-70836-2_51
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