By Topic

Ensemble modeling and control for congestion management in automated warehouses

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Mather, T.W. ; Mech. Eng. & Mech. Dept., Drexel Univ., Philadelphia, PA, USA ; Hsieh, M.A.

In this work, we present and evaluate an ensemble approach towards the modeling and mitigation of congestion in multi-agent robotic systems operating in a dynamic environment. In particular, we consider the problem of congestion management between robots and robots and human agents in an automated factory or warehouse. The main contribution of this work is the development of appropriate ensemble models that describe the collective dynamics of the system to identify regions of high congestion. These models are used to design appropriate agent-level feedback control policies to improve the performance of the robotic team. To reduce the frequency of robot-robot and robot-human interactions, the feedback control policies implemented by the individual robots are designed to control the variances in the robot population distribution in the workspace. We present simulation results that validate the feasibility of our methodology.

Published in:

Automation Science and Engineering (CASE), 2012 IEEE International Conference on

Date of Conference:

20-24 Aug. 2012