Towards a Fully Autonomous Robotic System for lntra-logistics Applications: Applications in the Oil and Gas lndustry

  • Author / Creator
    Tzintzun Ramos, Juan M.
  • Intra-logistics plays an important role in industry and service activities. However,
    current intra-logistics systems have several shortcomings for which mobile
    robots are the most suitable candidate to solve them. Nevertheless, the use
    of mobile robots should rstly overcome several challenges for becoming a realistic
    solution. We narrow the scope of this work and focus our attention to
    improve planning abilities (motion planning, task planning, task allocation) of
    robots used in intra-logistics operations. Towards that end we approach our
    problem from a formal methods perspective as it has been shown it may be
    a solution that can successfully improve important abilities desired by such
    robotic applications. In this work we present a mixed integer linear programming
    formulation for the multi-vehicle traveling salesman problem with pick-up
    and delivery and split load constraints as a new formulation able to capture a
    bigger set of instances. We then use recent developments in decomposition of
    formulas given in a subset of linear temporal logic to propose the multi-robot
    pickup and delivery problem with linear temporal logic. Finally, we explore
    possible applications of the models presented in intra-logistics operations in
    the oil and gas industry

  • Subjects / Keywords
  • Graduation date
    Fall 2020
  • Type of Item
  • Degree
    Master of Science
  • DOI
  • License
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