Paper Info
Title
Optimizing Cooperative Pallet Loading Robots: A Mixed Integer Approach
Abstract
We consider a system with a metering conveyor that feeds a palletizing machine. Multiple robots cooperatively move packages to obtain a desired final pallet layout. We address the problem of finding the optimal sequence of manipulations and packages positions on the conveyor that allow to maximize production. Our main contribution is the reformulation of this operation as a mixed integer linear programming (MILP) problem, that we solve with a metaheuristic that exploits a standard commercial solver. We also present some numerical experiments on randomly generated problems.
Year
DOI
Venue
2021
10.1109/LRA.2021.3074099
IEEE ROBOTICS AND AUTOMATION LETTERS
Keywords
DocType
Volume
Pallets, Belts, Manipulators, Layout, Robot kinematics, Collision avoidance, Bars, Planning, scheduling and coordination, cooperating robots, task and motion planning
Journal
6
Issue
ISSN
Citations 
3
2377-3766
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Mattia Laurini132.77
Luca Consolini227631.16
Marco Locatelli392680.28