检索结果-内蒙古大学图书馆

Exact algorithms for routing electric autonomous mobile robots in intralogistics

EUROPEAN JOURNAL OF OPERATIONAL RESEARCH 2025年第3期323卷 830-851页

作者： Meyer, Anne Gschwind, Timo Amberg, Boris Colling, Dominik Karlsruhe Inst Technol KIT Karlsruhe Germany RPTU Kaiserslautern Landau Landau Germany FZI Forschungszentrum Informat Karlsruhe Germany

In intralogistics and manufacturing, autonomous mobile robots (AMRs) are usually electrically powered and recharged by battery swapping or induction. We investigate AMR route planning in these settings by studying different variants of the electric vehicle routing problem with due dates (EVRPD). We consider three common recharging strategies: battery swapping, inductive recharging with full recharges, and inductive recharging with partial recharges. Moreover, we consider two different objective functions: the standard objective of minimizing the total distance traveled and the minimization of the total completion times of transport jobs. The latter is of particular interest in intralogistics, where time aspects are of crucial importance and the earliest possible completion of jobs often has priority. In this context, recharging decisions also play an essential role. For solving the EVRPD variants, we propose exact branch-price-and-cut algorithms that rely on ad-hoc labeling algorithms tailored to the respective variants. We perform an extensive computational study to generate managerial insights on the AMR route planning problem and to assess the performance of our solution approach. The experiments are based on newly introduced instances featuring typical characteristics of AMR applications in intralogistics and manufacturing and on standard benchmark instances from the literature. The detailed analysis of our results reveals that inductive recharging with partial recharges is competitive with battery swapping, while using a full-recharges strategy has considerable drawbacks in an AMR setup.

关键词： Routing autonomous mobile robots Electric vehicle routing problem Branch-price-and-cut Recharging strategies

来源：评论

学校读者我要写书评

暂无评论

Decentralised protocols for autonomous mobile robots in material handling: inductive learnings from centralised controller

引用

INTERNATIONAL JOURNAL OF PRODUCTION RESEARCH 2025年第4期63卷 1372-1398页

作者： Kim, Byeongmok Kim, Yonggab Lee, Seokcheon Purdue Univ Sch Ind Engn W Lafayette IN 47907 USA

As customer demands for personalised items continue to grow, flexible material handling systems are becoming indispensable in manufacturing to accommodate the increasing product variety and demand fluctuations. Consequently, the adoption of autonomous mobile robots (AMRs) is on the rise, driven by their capability to autonomously respond to changes in demand. However, the myopic nature of AMRs' autonomous decision-making may limit their ability to consider a system-wide perspective. To address this challenge, we propose an AI-based platform that extracts knowledge from a centralised agent, which makes system-wide decisions offline, and integrates this knowledge into decentralised AMRs operating online. We develop a mixed-integer linear programming model, a genetic algorithm, and a scheduling algorithm to generate centralised solutions. Additionally, we design features to convert these solutions into training instances and employ artificial neural networks to derive knowledge from them. This knowledge is then integrated into each AMR as a protocol. Through experiments, we evaluate the performance of the developed protocol, demonstrating its superiority over other dispatching rules in minimising the total weighted tardiness of transportation requests and the total waiting time of transportation requests at storages.

关键词： autonomous mobile robots artificial neural networks collision avoidance decentralised protocol inductive learning material handling

来源：评论

学校读者我要写书评

暂无评论

autonomous mobile robots in manufacturing: Highway Code development, simulation, and testing

引用

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2019年第9-12期104卷 4617-4628页

作者： Liaqat, A. Hutabarat, W. Tiwari, D. Tinkler, L. Harra, D. Morgan, B. Taylor, A. Lu, T. Tiwari, A. Airbus UK Broughton CH4 0DR England Univ Sheffield Dept Automat Control & Syst Engn Sheffield S1 3JD S Yorkshire England Adv Mfg Res Ctr Factory 2050 Sheffield S9 1ZA S Yorkshire England

A dynamic and flexible manufacturing environment presents many challenges in the movement of autonomous mobile robots (AMRs), leading to delays due to the complexity of operations while negotiating even a simple route. Therefore, an understanding of rules related to AMR movement is important both from a utility perspective as well as a safety perspective. Our survey from literature and industry has revealed a gap in methodology to test rules related to AMR movement in a factory environment. Testing purely through simulations would not able to capture the nuances of shop floor interactions whereas physical testing alone would be incredibly time-consuming and potentially hazardous. This work presents a new methodology that can make use of observations of AMR behaviour on selected cases on the shop floor and build up the fidelity of those simulations based on observations. This paper presents the development of a Highway Code for AMRs, development of simulation models for an ideal AMR (based on the rules from the Highway Code), and physical testing of real AMR in an industrial environment. Finally, a behavioural comparison of an ideal AMR and a real AMR in five scenarios (taken from the shop floor of an industrial partner) is presented. This work could enable informed decisions regarding the implementation of AMRs through identification of any adverse behaviours which could then be mitigated either through improvements on the AMR or through establishing shop floor protocols that reduce the potential impact of these behaviours.

关键词： Manufacturing autonomous mobile robots Simulation Highway Code

来源：评论

学校读者我要写书评

暂无评论

Evaluation of Disinfection Methods for autonomous mobile robots Used in Hospital Logistics in Emergency Departments

引用

Journal of Hospital Infection 2025年

作者： Przemysław Kardas Filip Bielec Małgorzata Brauncajs Paweł Lewek Dariusz Timler Ewelina Łojewska Marcello Chiurazzi Neri Niccolò Dei Gastone Ciuti Raquel Juliá Ros Víctor Solaz Estevan Alessia Maccaro Leandro Pecchia Beatriz Merino Alejandro Medrano Thomas Penzel Giuseppe Fico Department of Family Medicine Medical University of Lodz Lodz 90419 Poland Department of Microbiology and Laboratory Medical Immunology Medical University of Lodz Lodz 90419 Poland Department of Emergency and Disaster Medicine Medical University of Lodz Lodz 90419 Poland Office for Research Strategies and Development Medical University of Lodz Lodz 90419 Poland BioRobotics Institute & Department of Excellence in Robotics and AI Scuola Superiore Sant’Anna Pisa 56127 Italy Robotnik Automation S.L. Paterna Valencia 46980 Spain Department of Social Sciences University of Naples Federico II Applied Biomedical Signal Processing Intelligent eHealth Laboratory School of Engineering University of Warwick Coventry CV4 7AL UK Department of Engineering University Campus Bio-Medico of Rome Via Alvaro del Portillo 21 Rome 00128 Italy Life Supporting Technologies Departamento de Tecnología Fotónica y Bioingeniería Universidad Politècnica de Madrid Madrid Spain Interdisciplinary Center of Sleep Medicine Charité University Medicine Berlin Berlin Germany

Background autonomous mobile robots (AMRs) have been increasingly used in hospital logistics, particularly in high-risk areas, such as Emergency Departments (EDs), to streamline operations, reduce staff fatigue, and minimize infection risks. However, their effective disinfection remains a critical concern, especially when it comes to solutions aimed at preventing spread of multi-drug-resistant organisms. Objective This study evaluated the microbiological cleanliness and effectiveness of various disinfection methods for AMRs in real-life hospital logistics settings, with a particular focus on their application in EDs. Methods The HOSBOT, an AMR designed for hospital logistics, was deployed in a tertiary hospital for two weeks and validated for transport of biological samples. Microbiological contamination was assessed at multiple robot sites before and after disinfection, using two methods, i.e. manual wiping with a standard disinfectant and non-contact fumigation with low temperature vaporized hydrogen peroxide. Contamination levels were evaluated using quantitative and qualitative microbiological techniques, and a threshold of <2.5 colony-forming units/cm 2 for critical environments, recommended by the Centers for Disease Control and Prevention (CDC), was considered as proof of success. Results Bacterial contamination exceeded thresholds at all sites. Both disinfection methods significantly decreased contamination. Manual wiping reduced bacterial counts below thresholds and eradicated fungal growth, while fumigation was effective for bacterial but not fungal contamination. Fumigation also failed to meet CDC cleanliness standards in hard-to-reach areas. Conclusions Both manual wiping and fumigation effectively reduced bacterial contamination, however, wiping showed better results in fungal eradication. Improvements to fumigation methods are necessary, such as application of higher disinfectant concentrations or alternative chemicals. The aforementioned findings not

关键词： autonomous mobile robots Bacterial contamination Decontamination Disinfection Emergency Department Fungal contamination Hospital logistics Intensive care unit Microbiological cleanliness Robotics

来源：评论

学校读者我要写书评

暂无评论

autonomous mobile robots in Hospital Logistics

Autonomous Mobile Robots in Hospital Logistics

引用

IFIP WG 5.7 International Conference on Advances in Production Management Systems (APMS)

作者： Fragapane, Giuseppe Hvolby, Hans-Henrik Sgarbossa, Fabio Strandhagen, Jan Ola Norwegian Univ Sci & Technol Dept Mech & Ind Engn Trondheim Norway Aalborg Univ Dept Mat & Mfg Engn Ctr Logist Aalborg Denmark

ISBN: (纸本)9783030579937

The recent advances in technology have increased flexibility in indoor mobility and human-robot collaboration, opening up new opportunities to perform material handling tasks, especially in narrow, dynamic environments, such as hospitals. Sensing devices, powerful on-board computers, artificial intelligence, and collaborative equipment allow autonomous mobile robots (AMRs) to drive and fulfill material handling activities autonomously. In hospitals, material handling activities are widely performed manually. This study investigates five innovative applications of AMRs, highlighting their benefits compared with other material handling systems applied in hospitals, and presenting research needs. The study concludes that AMRs can support and collaborate closely with hospital personnel to increase value-added time for patient care.

关键词： autonomous mobile robots Material handling Hospital Logistics

来源：评论

学校读者我要写书评

暂无评论

Adaptive relative velocity estimation algorithm for autonomous mobile robots using the measurements on acceleration and relative distance

引用

INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING 2020年第3期34卷 372-388页

作者： Safaei, Ali McGill Univ Mech Engn Dept Montreal PQ Canada

In this article, an adaptive algorithm is proposed for online velocity estimation of the autonomous mobile robots (AMRs) without positioning data received from a Global Positioning System (GPS) module or other means for odometry. Unlike the popular Kalman and particle filters that use the measurements on vectors of global (or local) position and acceleration of a mobile robot, the proposed adaptive relative velocity estimation (ARVE) algorithm requires the scalar value of measured distance to a beacon agent and also the measurement on acceleration vector, in order to generate an online estimation of the global velocity vector of a mobile robot. Combining the ARVE algorithm with the recently proposed adaptive relative position estimation (ARPE) algorithm provides a solution for online estimation of the translational states of a mobile robot without accessing the GPS data, which makes the package applicable in both indoor and outdoor environments. The stability of the ARVE algorithm is analyzed with LaSalle-Yoshizawa theorem. In addition, two simulation studies are provided to show the application of the proposed estimation package (ARVE+ARPE) for aerial AMRs in two cases corresponding to the stationary and moving beacon agents. In the simulation results, it is shown that the estimation package can be used in conjunction with the recently proposed adaptive model-free control (AMFC) algorithm to achieve desired tracking objective in autonomous movement of a quadrotor, without requiring the information on the internal dynamics of the robot.

关键词： adaptive velocity estimation autonomous mobile robots relative estimation relative measurements

来源：评论

学校读者我要写书评

暂无评论

Fault-tolerant gathering algorithms for autonomous mobile robots

引用

SIAM JOURNAL ON COMPUTING 2006年第1期36卷 56-82页

作者： Agmon, Noa Peleg, David Bar Ilan Univ Dept Comp Sci IL-52900 Ramat Gan Israel Weizmann Inst Sci Dept Comp Sci & Appl Math IL-76100 Rehovot Israel

This paper studies fault-tolerant algorithms for the problem of gathering N autonomous mobile robots. A gathering algorithm, executed independently by each robot, must ensure that all robots are gathered at one point within finite time. In a failure-prone system, a gathering algorithm is required to successfully gather the nonfaulty robots, independently of the behavior of the faulty ones. Both crash and Byzantine faults are considered. It is first observed that most existing algorithms fail to operate correctly in a setting allowing crash failures. Subsequently, an algorithm tolerant against one crash-faulty robot in a system of three or more robots is presented. It is then observed that all known algorithms fail to operate correctly in a system prone to Byzantine faults, even in the presence of a single fault. Moreover, it is shown that in an asynchronous environment it is impossible to perform a successful gathering in a 3-robot system, even if at most one of them might fail in a Byzantine manner. Thus, the problem is studied in a fully synchronous system. An algorithm is provided in this model for gathering N >= 3 robots with at most a single faulty robot, and a more general gathering algorithm is given in an N-robot system with up to f faults, where N >= 3f + 1.

关键词： robot swarms autonomous mobile robots convergence

来源：评论

学校读者我要写书评

暂无评论

Motion planning of autonomous mobile robots by iterative dynamic programming

引用

INTELLIGENT SERVICE ROBOTICS 2015年第3期8卷 165-174页

作者： Yoon, Hee-Sang Park, Tae-Hyoung Chungbuk Natl Univ Dept Control & Robot Engn Cheongju South Korea

We propose a new offline motion planning method for autonomous mobile robots. To minimize traveling time, a smooth path and a time-optimal velocity profile should be generated under kinematic and dynamic constraints. In this study, we develop an effective and practical method to generate a good solution with lower computation time. The initial path is obtained from a Voronoi diagram and spline function, and is improved by iteratively changing via-points. We apply a dynamic programming algorithm to change the via-points, and a Hermite interpolation to generate a smooth trajectory. Simulation results are presented to verify the performance of the proposed method.

关键词： autonomous mobile robots Motion planning Robot path Robot trajectory Dynamic programming Hermite interpolation

来源：评论

学校读者我要写书评

暂无评论

Planning and control of autonomous mobile robots for intralogistics: Literature review and research agenda

引用

EUROPEAN JOURNAL OF OPERATIONAL RESEARCH 2021年第2期294卷 405-426页

作者： Fragapane, Giuseppe de Koster, Rene Sgarbossa, Fabio Strandhagen, Jan Ola Norwegian Univ Sci & Technol Dept Mech & Ind Engn Trondheim Norway Erasmus Univ Rotterdam Sch Management Rotterdam Netherlands

autonomous mobile robots (AMR) are currently being introduced in many intralogistics operations, like manufacturing, warehousing, cross-docks, terminals, and hospitals. Their advanced hardware and control software allow autonomous operations in dynamic environments. Compared to an automated guided vehicle (AGV) system in which a central unit takes control of scheduling, routing, and dispatching decisions for all AGVs, AMRs can communicate and negotiate independently with other resources like machines and systems and thus decentralize the decision-making process. Decentralized decision-making allows the system to react dynamically to changes in the system state and environment. These developments have influenced the traditional methods and decision-making processes for planning and control. This study identifies and classifies research related to the planning and control of AMRs in intralogistics. We provide an extended literature review that highlights how AMR technological advances affect planning and control decisions. We contribute to the literature by introducing an AMR planning and control framework to guide managers in the decision-making process, thereby supporting them to achieve optimal performance. Finally, we propose an agenda for future research within this field. (c) 2021 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY license ( http://***/licenses/by/4.0/ )

关键词： Logistics autonomous mobile robots Planning and control Literature review Research agenda

来源：评论

学校读者我要写书评

暂无评论

Forward-Looking MIMO-SAR for Enhanced Radar Imaging in autonomous mobile robots

引用

IEEE ACCESS 2023年 11卷 66934-66948页

作者： Albaba, Adnan Bauduin, Marc Verbelen, Tim Sahli, Hichem Bourdoux, Andre IMEC Adv RF Program B-3001 Leuven Belgium Vrije Univ Brussel Dept Elect & Informat ETRO B-1050 Ixelles Belgium Univ Ghent Dept Informat Technol IDLab B-9052 Ghent Belgium

Synthetic aperture radar (SAR) techniques are commonly used in spaceborne and airborne side-looking radar imaging applications, where the relatively high platform speeds enable the formation of very long synthetic apertures, which provide images with high angular resolution. However, the recent development of new autonomous ground vehicles, with relatively slow speeds, calls for new SAR imaging methods to obtain high angular resolution images. In this paper, the concept of forward-looking multiple-input multiple-output SAR (FL-MIMO-SAR) is analyzed and applied for short-range millimeter-wave radar forward-looking imaging in autonomous mobile robots (AMRs). Moreover, if the antenna inter-element spacing in the MIMO array is small, the FL-MIMO-SAR imaging system will provide low or no angular resolution refinement at the radar boresight region, i.e., Doppler beam sharpening (DBS) ineffective region. To solve that, the combination of FL-MIMO-SAR and sparse MIMO arrays with large inter-element spacing (FL-sparseMIMO-SAR) is proposed. Aspects such as the signal model, image reconstruction, complexity reduction, and the left-right ambiguity for FL-MIMO-SAR imaging systems are addressed. In addition, different imaging scenarios for AMRs are simulated using a frequency-modulated continuous wave radar simulator. Simulation results are validated with real measurements. It is shown that the proposed combination of FL-MIMO-SAR and MIMO arrays with large inter-element spacing manages to significantly suppress the grating lobes, which come from the sparsity in the antenna array. Moreover, the proposed FL-sparseMIMO-SAR helps to relax the requirements on the synthetic aperture length and solves the DBS-blind region problem, thanks to the larger real sparse MIMO array and the grating lobes suppression with the FL-SAR processing. Finally, the results show high potential for radar imaging systems, with FL-sparseMIMO-SAR capabilities, to be employed in the applications of AMRs towards

关键词： autonomous mobile robots radar imaging FL-SAR DBS synthetic aperture radar angular resolution MIMO complexity reduction backprojection image reconstruction sparse antenna arrays grating lobes suppression

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：