TY - GEN
T1 - Fleet Management System for Autonomous Mobile Robots in Secure Shop-floor Environments
AU - Souto, Alexandre
AU - Prates, Pedro Alexandre
AU - Lourenço, André
AU - Al Maamari, Mazoon S.
AU - Marques, Francisco
AU - Taranta, David
AU - Doo, Luis
AU - Mendonça, Ricardo
AU - Barata, José
N1 - Funding Information:
This work was co-funded by INCM ATLAS project and by the CTS multi-annual funding, through the PIDDAC Program funds.
Publisher Copyright:
© 2021 IEEE.
PY - 2021/6/20
Y1 - 2021/6/20
N2 - This paper presents a management system for a fleet of autonomous mobile robots performing logistics in security-heterogeneous factories. Loading and unloading goods and parts between workstations in these dynamic environments often demands from the mobile robots to share space and resources such as corridors, interlocked security doors and elevators among themselves. This model explores a dynamic task scheduling and assignment to the robots taking into account their location, tasks previously assigned and battery levels, all the while being aware of the physical constraints of the installation. The benefits of the proposed architecture were validated through a set of experiments in a mockup of INCM's shop-floor environment. During these tests 3 robots operated continuously for several hours, self-charging without any human intervention.
AB - This paper presents a management system for a fleet of autonomous mobile robots performing logistics in security-heterogeneous factories. Loading and unloading goods and parts between workstations in these dynamic environments often demands from the mobile robots to share space and resources such as corridors, interlocked security doors and elevators among themselves. This model explores a dynamic task scheduling and assignment to the robots taking into account their location, tasks previously assigned and battery levels, all the while being aware of the physical constraints of the installation. The benefits of the proposed architecture were validated through a set of experiments in a mockup of INCM's shop-floor environment. During these tests 3 robots operated continuously for several hours, self-charging without any human intervention.
UR - http://www.scopus.com/inward/record.url?scp=85118776973&partnerID=8YFLogxK
U2 - 10.1109/ISIE45552.2021.9576269
DO - 10.1109/ISIE45552.2021.9576269
M3 - Conference contribution
AN - SCOPUS:85118776973
T3 - IEEE International Symposium on Industrial Electronics
BT - Proceedings of 2021 IEEE 30th International Symposium on Industrial Electronics, ISIE 2021
PB - Institute of Electrical and Electronics Engineers (IEEE)
T2 - 30th IEEE International Symposium on Industrial Electronics, ISIE 2021
Y2 - 20 June 2021 through 23 June 2021
ER -