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arXiv 2021年

作者： Xu, Xuecheng Wang, Cheng Wang, Yue Xiong, Rong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang China

— The ability to autonomously navigate in unknown environments is important for mobile robots. The map is the core component to achieve this. Most map representations rely on drift-free state estimation and provide a global metric map to navigate. However, in large-scale real-world applications, it’s hard to prohibit drifts and compose a globally consistent map quickly. In this paper, a novel representation named, HiTMap, is proposed to enhance the existing map representations. The central idea is to adopt a submap-based hierarchical topology rather than a global metric map so that only a local metric map is maintained for obstacle avoidance which ensures the lightweight of the representation. To guide the robots navigate into unknown spaces, frontiers are detected and attached to the map as an attribute. We also develop a path planning module to evaluate the feasibility and efficiency of our map representation. The system is validated in a simulation environment and a demonstration in the real world is conducted. In addition, the HiTMap is made available open-source. https://***/MaverickPeter/HiTMap. © 2021, CC BY.

关键词： Navigation

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Research on Container Slot Planning for Coordinated Operation of Quay Cranes and Yard Cranes

Research on Container Slot Planning for Coordinated Operatio...

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IEEE International Conference on Networking, Sensing and control

作者： Lili Huang Weimin Wu State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781665440493

Given ship per-stowage plan and yard stacking status, this paper presents a method on container slot planning for coordinated operation of quay cranes (QC) and yard cranes (YC). A multi-objective programming model is established with the goal of maximizing the turnover rate of container terminal. Then, a heuristic construction algorithm is designed to obtain an initial stowage plan. In addition, an annealing genetic algorithm is proposed to optimize this initial solution. A wide variety of numerical experiments demonstrated that stowage plans made by this method are useful and applicable in practice.

关键词： Cranes Heuristic algorithms Stacking Containers Pareto optimization Planning Sensors

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Battery Charge Dispatching in Multi-robot systems

Battery Charge Dispatching in Multi-robot Systems

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IEEE International Conference on Networking, Sensing and control

作者： Zichao Xing Weimin Wu Haoyi Niu Ruifen Hu State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781665440493

Multi-robot systems (MRSs) attract more and more attention due to their efficiency and safety. In a practical scenario, robots need to work for a long time without human intervention, which requires the robots do not run out of power. The battery charging strategy of most systems uses a fixed threshold or fixed periods to determine when robots should be charged. It does not consider the system task situation, nor the situation of charging station (CS) competition. This paper proposes an efficient charge dispatching strategy, which can ensure that a robot firstly completes a task quickly when it is scheduled to work and firstly be charged to be ready for a subsequent task when it is idle. For the case that multiple robots compete for the same CS, we designe a bidding strategy to determine which robot should be serviced. A rule-based charging strategy is used to compare with the proposed charge dispatching strategy in this paper. The results show that our method performs better in terms of stability and efficiency.

关键词： Conferences Robot sensing systems control systems Dispatching Batteries Sensors Safety

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A Collision Avoidance Algorithm for Idle Robots in Multi-robot System

A Collision Avoidance Algorithm for Idle Robots in Multi-rob...

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IEEE International Conference on Networking, Sensing and control

作者： Zichao Xing Weimin Wu Xingkai Wang Ruifen Hu State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781665440493

Multi-robot systems (MRSs) play vital roles in manufacturing systems and logistics systems. In order to improve the efficiency of MRSs, we propose an idle robot collision avoidance algorithm(IRCAA) for idle robots to give way for working robots. In the proposed method, idle robots stop in place for new tasks without returning to robot stations. Once an idle robot gets in the way of working robots, IRCAA will find an avoidance point (AP) for the idle robot to give way. Additionally, no new block or deadlock occurs when the idle robot arrives at the AP. The proposed method in this paper is effective and able to improve the efficiency of MRSs, which is verified by both simulation experiments and actual industrial projects.

关键词： Service robots System recovery Robot sensing systems Sensors Multi-robot systems Collision avoidance Task analysis

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Multi-Stage Decision-Making Skill Learning for Soccer Robot

Multi-Stage Decision-Making Skill Learning for Soccer Robot

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Zhike Chen Zhiye He Haozhe Du Chengrui Han Yunkai Wang Zexi Chen Rong Xiong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

The application scenarios of robots are becoming more and more complex, leading to higher and higher demand on skills for robots. This paper proposes a method to learn complex skill by decomposing it into basic skills, then train them respectively as well as combination into a whole, where reinforcement learning are used both in basic skill learning and in the integration. The method proposed is validated on the RoboCup small soccer robot platform via the skill of chasing and shooting ball and tested in both simulation environment and real world. It is verified our method has achieved a higher success rate comparing with traditional methods. Code is available here.

关键词： Training Conferences Computational modeling Decision making Reinforcement learning Real-time systems Generators

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A Hybrid Algorithm to Solve Periodic Vehicle Dispatching Problem with Heterogeneous Vehicles in Logistics Transportation

A Hybrid Algorithm to Solve Periodic Vehicle Dispatching Pro...

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IEEE International Conference on Networking, Sensing and control

作者： Xingkai Wang Zichao Xing Weimin Wu Xinyu Chen State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781665440493

The vehicle dispatching problem (VDP) is researching how to arrange vehicles’ transportation, which has been addressed by many scholars. In the field of logistics transportation, the vehicle dispatching problem is presented in a special form, that is, the periodic vehicle dispatching problem (PVDP) with heterogeneous vehicles. In order to solve this problem and improve the efficiency of vehicles, a round recombination algorithm (RRA) with two operators are designed in this paper. And a hybrid algorithm consisting of RRA and simulated annealing algorithm is also proposed to improve RRA. Three groups of experiments are carried out to test the performance of designed algorithms in different scenarios. The results of these experiments prove the effectiveness of RRA. The results also show the superiority of hybrid algorithm to RRA.

关键词： Annealing Conferences Transportation Simulated annealing Production Dispatching Mathematical models

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Research on Coupled Task Allocation and Scheduling of Multi-type Robots

Research on Coupled Task Allocation and Scheduling of Multi-...

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IEEE International Conference on Networking, Sensing and control

作者： Xingkai Wang Zichao Xing Weimin Wu Xinyu Chen State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781665440493

Task allocation problem and scheduling problem have always been hot topics in the robotics research field. Both of them can be divided into many categories. Among all these categories, coupled task allocation and scheduling problem (CTASP) is a quite difficult problem, especially for of multi-type robots. However, few researches are conducted on this area. Usually, the CTASP is studied for multi-type robots with fixed execution sequence in the reported literature. However, this paper will study the CTASP for multi-type robots with flexible execution sequence. A two-dimension genetic algorithm (TDGA) is designed to solve this type of problem, combined with rank minimal heuristic (RMH) algorithm to provide an elite strategy. The simulation experiment proves that TDGA can solve this kind of problems efficiently, and the efficiency of hybrid genetic algorithm has been further improved.

关键词： Heuristic algorithms Conferences Robot sensing systems Scheduling Sensors Resource management Task analysis

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A Two-Stage Congestion-Aware Routing Method for Automated Guided Vehicles in Warehouses

A Two-Stage Congestion-Aware Routing Method for Automated Gu...

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IEEE International Conference on Networking, Sensing and control

作者： Xinyu Chen Ligen Feng Xingkai Wang Weimin Wu Ruifen Hu State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781665440493

With multi-AGV (automated guided vehicle) systems gradually employed in modern warehouses, the research on how to coordinate AGVs in an efficient way has attracted more scholars than ever. As the size of AGVs grows over time, the possibility of traffic congestion is increasing rapidly, especially in a limited space. Therefore, the congestion-aware routing method is one of the most vital and fundamental topics in multi-AGV control research. In this paper, a two-stage congestion-minimizing routing method is presented. The proposed method not only plans paths that avoid congested areas, but also changes paths in real time to cope with the volatile traffic situations. An experiment is carried out to test the effectiveness and efficiency of the proposed method, and the results are highly promising in terms of alleviating traffic congestion.

关键词： Solid modeling Remotely guided vehicles Heuristic algorithms Production Routing Real-time systems Sensors

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A Real Time Vehicle Scheduling Strategy in Container Terminals

A Real Time Vehicle Scheduling Strategy in Container Termina...

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IEEE International Conference on Networking, Sensing and control

作者： Zhenrui Rong Weimin Wu Xingkai Wang Xiaojie Jin State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781665440493

With the rapid development of global container business, there are higher requirements for the operation efficiency of container terminals. The vehicle dispatching system is an important link in the operation of container terminal. The yard environment of container terminal is very complex, and the traditional global optimization model based on time estimation is no longer suitable to deal with the vehicle dispatching problem in the scene of dock. This paper proposes a real-time vehicle scheduling strategy for container terminals. Firstly, a buffer vehicle pool is designed to balance the efficiency of each quay crane (QC). Secondly, the wider neighborhood simulated annealing algorithm (WNSA) is presented to find the optimal matching result of each round of calculation. The experimental results show that the proposed strategy in this paper is able to improve the operation efficiency of the QCs and reduce the vehicle cost in the container terminal.

关键词： Cranes Estimation Simulated annealing Containers Real-time systems Scheduling Dispatching

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A Conflict-Reducing Path Planning Algorithm in Automated Warehouses

A Conflict-Reducing Path Planning Algorithm in Automated War...

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IEEE International Conference on Networking, Sensing and control

作者： Ligen Feng Xinyu Chen Tingqi Zhang Weimin Wu State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781665440493

With the development of modern logistics industry, automated warehouses are becoming more and more widely used. An automated guided vehicle (AGV) is often used to carry goods in warehouse. Under specific limitations of the road layout, AGVs are prone to conflict when moving. According to the layout characteristics of automated warehouses, this paper proposes a conflict-reducing path planning algorithm, which is an improvement of A-star algorithm. The conflict cost and turn cost are introduced to the algorithm to reduce the conflict probability and the number of turns of paths. Through simulation comparison, it is verified that the algorithm can reduce the probability of conflicts among AGVs and improve the overall efficiency of multi-AGV systems.

关键词： Industries Costs Remotely guided vehicles Roads Layout Path planning Sensors

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