Abstract
In this paper we provide a tutorial on the background of warehouse automation using robotic networks and survey relevant work in the literature. We present a new cyber-physical control method that achieves safe, deadlock-free, efficient, and adaptive behavior of multiple robots serving the goods-to-man logistic operations. A central piece of this method is the incremental supervisory control design algorithm, which is computationally scalable with respect to the number of robots. Finally, we provide a case study on 30 robots with changing conditions to demonstrate the effectiveness of the proposed method.
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Acknowledgements
The iSupCon algorithm was originated in Yuta TAT-SUMOTO’s Master’s thesis “A Semi-Model-Free Approach for Efficient Supervisory Control Synthesis” (Osaka City University, 2019).
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Kai CAI declares that he has no conflict of interest.
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Project supported by JSPS KAKENHI (No. JP16K18122)
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Cai, K. Warehouse automation by logistic robotic networks: a cyber-physical control approach. Front Inform Technol Electron Eng 21, 693–704 (2020). https://doi.org/10.1631/FITEE.2000156
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DOI: https://doi.org/10.1631/FITEE.2000156