An End-to-End Robot System for Warehouse Applications Using Controller Synthesis
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 dif...
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| Autores principales: | , , |
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| Formato: | Objeto de conferencia |
| Lenguaje: | Inglés |
| Publicado: |
2021
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| Materias: | |
| Acceso en línea: | http://sedici.unlp.edu.ar/handle/10915/140249 |
| Aporte de: |
| Sumario: | 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. |
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